Acceso abierto

Improvement and Control Trajectory Tracking of a Three-Axis Manipulator for New Training Strategies

, ,  y   
05 sept 2025

Cite
Descargar portada

Fromhold-Eisebith M, Marschall P, Peters R, Thomes P. Torn between digitized future and context dependent past – How implementing ‘Industry 4.0’ production technologies could transform the German textile industry. Technological Forecasting and Social Change. 2021;166:120620. https://doi.org/10.1016/j.techfore.2021.120620 Fromhold-Eisebith M Marschall P Peters R Thomes P. Torn between digitized future and context dependent past – How implementing ‘Industry 4.0’ production technologies could transform the German textile industry . Technological Forecasting and Social Change . 2021 ; 166 : 120620 . https://doi.org/10.1016/j.techfore.2021.120620 Search in Google Scholar

Müller JM, Buliga O, Voigt K-I. Fortune favors the prepared: How SMEs approach business model innovations in Industry 4.0. Technological Forecasting and Social Change. 2018;132:2–17. https://doi.org/10.1016/j.techfore.2017.12.019 Müller JM Buliga O Voigt K-I. Fortune favors the prepared: How SMEs approach business model innovations in Industry 4.0 . Technological Forecasting and Social Change . 2018 ; 132 : 2 17 . https://doi.org/10.1016/j.techfore.2017.12.019 Search in Google Scholar

Engemann H, Du S, Kallweit S, Cönen P, Dawar H. OMNIVIL—An Autonomous Mobile Manipulator for Flexible Production. Sensors. 2020;20(24):7249. https://doi.org/10.3390/s20247249 Engemann H Du S Kallweit S Cönen P Dawar H. OMNIVIL—An Autonomous Mobile Manipulator for Flexible Production . Sensors . 2020 ; 20 ( 24 ): 7249 . https://doi.org/10.3390/s20247249 Search in Google Scholar

Hanh LD, Tu HB. Computer Vision for Industrial Robot in Planar Bin Picking Application. Advances in Science, Technology and Engineering Systems Journal. 2020;5(6):1244–9. https://doi.org/10.25046/aj0506148 Hanh LD Tu HB. Computer Vision for Industrial Robot in Planar Bin Picking Application . Advances in Science, Technology and Engineering Systems Journal . 2020 ; 5 ( 6 ): 1244 9 . https://doi.org/10.25046/aj0506148 Search in Google Scholar

Bedaka AK, Mahmoud AM, Lee S-C, Lin C-Y. Autonomous Robot-Guided Inspection System Based on Offline Programming and RGB-D Model. Sensors. 2018;18(11):4008. https://doi.org/10.3390/s18114008 Bedaka AK Mahmoud AM Lee S-C Lin C-Y. Autonomous Robot-Guided Inspection System Based on Offline Programming and RGB-D Model . Sensors . 2018 ; 18 ( 11 ): 4008 . https://doi.org/10.3390/s18114008 Search in Google Scholar

Engemann H, Wiesen P, Kallweit S, Deshpande H, Schleupen J. Autonomous Mobile Manipulation Using ROS. In: Advances in Service and Industrial Robotics. Cham: Springer International Publishing; 2017. p. 389–401. [accessed 4 Apr 2024] https://doi.org/10.1007/978-3-319-61276-8_43 Engemann H Wiesen P Kallweit S Deshpande H Schleupen J. Autonomous Mobile Manipulation Using ROS . In: Advances in Service and Industrial Robotics . Cham : Springer International Publishing ; 2017 . p. 389 401 . [accessed 4 Apr 2024 ] https://doi.org/10.1007/978-3-319-61276-8_43 Search in Google Scholar

Bedaka AK, Vidal J, Lin C-Y. Automatic robot path integration using three-dimensional vision and offline programming. The International Journal of Advanced Manufacturing Technology. 2019;102(5–8):1935–50. https://doi.org/10.1007/s00170-018-03282-w Bedaka AK Vidal J Lin C-Y. Automatic robot path integration using three-dimensional vision and offline programming . The International Journal of Advanced Manufacturing Technology . 2019 ; 102 ( 5–8 ): 1935 50 . https://doi.org/10.1007/s00170-018-03282-w Search in Google Scholar

Jermak CzJ, Jakubowicz M, Dereżyński J, Rucki M. Air Gauge Characteristics Linearity Improvement. Journal of Control Science and Engineering. 2016;2016:1–7. https://doi.org/10.1155/2016/8701238 Jermak CzJ Jakubowicz M Dereżyński J Rucki M. Air Gauge Characteristics Linearity Improvement . Journal of Control Science and Engineering . 2016 ; 2016 : 1 7 . https://doi.org/10.1155/2016/8701238 Search in Google Scholar

Jakubowicz M, Rucki M, Varga G, Majchrowski R. Influence of the Inlet Nozzle Diameter on the Air Gauge Dynamics. In: Lecture Notes in Mechanical Engineering. Cham: Springer International Publishing. 2017; 733–42. [accessed 2024] https://doi.org/10.1007/978-3-319-68619-6_71 Jakubowicz M Rucki M Varga G Majchrowski R. Influence of the Inlet Nozzle Diameter on the Air Gauge Dynamics . In: Lecture Notes in Mechanical Engineering . Cham : Springer International Publishing . 2017 ; 733 42 . [accessed 2024 ] https://doi.org/10.1007/978-3-319-68619-6_71 Search in Google Scholar

Arnarson H, Solvang B. Reconfigurable autonomous industrial mobile manipulator system. In: 2022 IEEE/SICE International Symposium on System Integration (SII). IEEE; 2022. [accessed 4 Apr 2024] https://doi.org/10.1109/sii52469.2022.9708887 Arnarson H Solvang B. Reconfigurable autonomous industrial mobile manipulator system . In: 2022 IEEE/SICE International Symposium on System Integration (SII) . IEEE ; 2022 . [accessed 4 Apr 2024 ] https://doi.org/10.1109/sii52469.2022.9708887 Search in Google Scholar

Teixeira FM, Silva MF. Simulation of a Robotic Co-transport System. In: 2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC). IEEE; 2021. [accessed 4 Apr 2024] https://doi.org/10.1109/icarsc52212.2021.9429776 Teixeira FM Silva MF. Simulation of a Robotic Co-transport System . In: 2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) . IEEE ; 2021 . [accessed 4 Apr 2024 ] https://doi.org/10.1109/icarsc52212.2021.9429776 Search in Google Scholar

Häuschen H. Der Bauksten. Industieroboter im praktischen Einsatz. Proc 3rd ISIR. 1973;83–93. Häuschen H. Der Bauksten . Industieroboter im praktischen Einsatz. Proc 3rd ISIR . 1973 ; 83 93 . Search in Google Scholar

Warnecke H, Schraft R. Einlegegeräte zur automatischen. Mainz : Krausskopf-verlag; 1973. Warnecke H Schraft R. Einlegegeräte zur automatischen . Mainz : Krausskopf-verlag ; 1973 . Search in Google Scholar

Feix T, Romero J, Schmiedmayer H-B, Dollar AM, Kragic D. The GRASP Taxonomy of Human Grasp Types. IEEE Transactions on Human-Machine Systems. 2016 Feb;46(1):66–77. https://doi.org/10.1109/thms.2015.2470657 Feix T Romero J Schmiedmayer H-B Dollar AM Kragic D. The GRASP Taxonomy of Human Grasp Types . IEEE Transactions on Human-Machine Systems . 2016 Feb ; 46 ( 1 ): 66 77 . https://doi.org/10.1109/thms.2015.2470657 Search in Google Scholar

Hua J, Zeng L, Li G, Ju Z. Learning for a Robot: Deep Reinforcement Learning, Imitation Learning, Transfer Learning. Sensors. 2021;21(4):1278. https://doi.org/10.3390/s21041278 Hua J Zeng L Li G Ju Z. Learning for a Robot: Deep Reinforcement Learning, Imitation Learning, Transfer Learning . Sensors . 2021 ; 21 ( 4 ): 1278 . https://doi.org/10.3390/s21041278 Search in Google Scholar

Rękas A, Kaczmarek T, Wieczorowski M, Gapiński B, Jakubowicz M, Grochalski K, et al. Analysis of Tool Geometry for the Stamping Process of Large-Size Car Body Components Using a 3D Optical Measurement System. Materials. 2021;14(24):7608. https://doi.org/10.3390/ma14247608 Rękas A Kaczmarek T Wieczorowski M Gapiński B Jakubowicz M Grochalski K Analysis of Tool Geometry for the Stamping Process of Large-Size Car Body Components Using a 3D Optical Measurement System . Materials . 2021 ; 14 ( 24 ): 7608 . https://doi.org/10.3390/ma14247608 Search in Google Scholar

Swojak N, Wieczorowski M, Jakubowicz M. Assessment of selected metrological properties of laser triangulation sensors. Measurement. 2021;176:109190. https://doi.org/10.1016/j.measurement.2021.109190 Swojak N Wieczorowski M Jakubowicz M. Assessment of selected metrological properties of laser triangulation sensors . Measurement . 2021 ; 176 : 109190 . https://doi.org/10.1016/j.measurement.2021.109190 Search in Google Scholar

Grochalski K, Wieczorowski M, Jakubek B. Influence of thermal disturbances on profilometric measurements of surface asperities. Measurement. 2022 Feb;190:110694. https://doi.org/10.1016/j.measurement.2021.110694 Grochalski K Wieczorowski M Jakubek B. Influence of thermal disturbances on profilometric measurements of surface asperities . Measurement . 2022 Feb ; 190 : 110694 . https://doi.org/10.1016/j.measurement.2021.110694 Search in Google Scholar

Jakubek B, Barczewski R, Jakubowicz M. The influence of the lubrication on the vibroacoustic signal generated by rolling bearings. Vibrations in Physical Systems. 2017;28:1–9. Jakubek B Barczewski R Jakubowicz M. The influence of the lubrication on the vibroacoustic signal generated by rolling bearings . Vibrations in Physical Systems . 2017 ; 28 : 1 9 . Search in Google Scholar

Andrzejewski J, Marciniak-Podsadna L. Development of Thermal Resistant FDM Printed Blends. The Preparation of GPET/PC Blends and Evaluation of Material Performance. Materials. 2020;13(9):2057. https://doi.org/10.3390/ma13092057 Andrzejewski J Marciniak-Podsadna L. Development of Thermal Resistant FDM Printed Blends . The Preparation of GPET/PC Blends and Evaluation of Material Performance. Materials . 2020 ; 13 ( 9 ): 2057 . https://doi.org/10.3390/ma13092057 Search in Google Scholar

Chen X, Huang Z, Sun Y, Zhong Y, Gu R, Bai L. Online on-Road Motion Planning Based on Hybrid Potential Field Model for Car-Like Robot. Journal of Intelligent & Robotic Systems. 2022;105(1). https://doi.org/10.1007/s10846-022-01620-5 Chen X Huang Z Sun Y Zhong Y Gu R Bai L. Online on-Road Motion Planning Based on Hybrid Potential Field Model for Car-Like Robot . Journal of Intelligent & Robotic Systems . 2022 ; 105 ( 1 ). https://doi.org/10.1007/s10846-022-01620-5 Search in Google Scholar

Maini P, Gonultas BM, Isler V. Online Coverage Planning for an Autonomous Weed Mowing Robot With Curvature Constraints. IEEE Robotics and Automation Letters. 2022 Apr;7(2):5445–52. https://doi.org/10.1109/lra.2022.3154006 Maini P Gonultas BM Isler V. Online Coverage Planning for an Autonomous Weed Mowing Robot With Curvature Constraints . IEEE Robotics and Automation Letters . 2022 Apr ; 7 ( 2 ): 5445 52 . https://doi.org/10.1109/lra.2022.3154006 Search in Google Scholar

Mitsi S, Bouzakis K-D, Mansour G, Sagris D, Maliaris G. Off-line programming of an industrial robot for manufacturing. The International Journal of Advanced Manufacturing Technology. 2004;26(3):262–7. https://doi.org/10.1007/s00170-003-1728-5 Mitsi S Bouzakis K-D Mansour G Sagris D Maliaris G. Off-line programming of an industrial robot for manufacturing . The International Journal of Advanced Manufacturing Technology . 2004 ; 26 ( 3 ): 262 - 7 . https://doi.org/10.1007/s00170-003-1728-5 Search in Google Scholar

Larkin N, Milojevic A, Pan Z, Polden J, Norrish J. Offline programming for short batch robotic welding. In: 16th joining of materials (JOM) conference. 2011. Larkin N Milojevic A Pan Z Polden J Norrish J. Offline programming for short batch robotic welding . In: 16th joining of materials (JOM) conference . 2011 . Search in Google Scholar

Wang C, Zhang Y, Zhang X, Wu Z, Zhu X, Jin S, et al. Offline-Online Learning of Deformation Model for Cable Manipulation With Graph Neural Networks. IEEE Robotics and Automation Letters. 2022;7(2):5544–51. https://doi.org/10.1109/lra.2022.3158376 Wang C Zhang Y Zhang X Wu Z Zhu X Jin S Offline-Online Learning of Deformation Model for Cable Manipulation With Graph Neural Networks . IEEE Robotics and Automation Letters . 2022 ; 7 ( 2 ): 5544 51 . https://doi.org/10.1109/lra.2022.3158376 Search in Google Scholar

Wang Z, Tian G. Hybrid offline and online task planning for service robot using object-level semantic map and probabilistic inference. Information Sciences. 2022;593:78–98. https://doi.org/10.1016/j.ins.2022.01.058 Wang Z Tian G. Hybrid offline and online task planning for service robot using object-level semantic map and probabilistic inference . Information Sciences . 2022 ; 593 : 78 98 . https://doi.org/10.1016/j.ins.2022.01.058 Search in Google Scholar

Javaid M, Haleem A, Singh RP, Suman R, Gonzalez ES. Understanding the adoption of Industry 4.0 technologies in improving environmental sustainability. Sustainable Operations and Computers. 2022;3:203–17. https://doi.org/10.1016/j.susoc.2022.01.008 Javaid M Haleem A Singh RP Suman R Gonzalez ES. Understanding the adoption of Industry 4.0 technologies in improving environmental sustainability . Sustainable Operations and Computers . 2022 ; 3 : 203 17 . https://doi.org/10.1016/j.susoc.2022.01.008 Search in Google Scholar

Tipary B, Erdős G. Tolerance analysis for robotic pick-and-place operations. The International Journal of Advanced Manufacturing Technology. 2021;117(5–6):1405– 26. https://doi.org/10.1007/s00170-021-07672-5 Tipary B Erdős G. Tolerance analysis for robotic pick-and-place operations . The International Journal of Advanced Manufacturing Technology . 2021 ; 117 ( 5–6 ): 1405 26 . https://doi.org/10.1007/s00170-021-07672-5 Search in Google Scholar

Mohsen M, Mohamed AM, Ahmed SM, Ibrahim K. Bilateral Control Of A 2-Dof Teleoperated Manipulator Using Udp Scheme. Ain Shams Engineering Journal. 2023;14(9):102065. https://doi.org/10.1016/j.asej.2022.102065 Mohsen M Mohamed AM Ahmed SM Ibrahim K. Bilateral Control Of A 2-Dof Teleoperated Manipulator Using Udp Scheme . Ain Shams Engineering Journal . 2023 ; 14 ( 9 ): 102065 . https://doi.org/10.1016/j.asej.2022.102065 Search in Google Scholar

Sun Y, Wan Y, Ma H, Liang X. Workspace Description and Evaluation of Master-Slave Dual Hydraulic Manipulators. Actuators. 2022;12(1):9. https://doi.org/10.3390/act12010009 Sun Y Wan Y Ma H Liang X. Workspace Description and Evaluation of Master-Slave Dual Hydraulic Manipulators . Actuators . 2022 ; 12 ( 1 ): 9 . https://doi.org/10.3390/act12010009 Search in Google Scholar

Li Z, Zhang E, Zhai B, Li B. Master-Slave Arm Heterogeneous Mapping With Link Pose Constraint in Teleoperation System. IEEE Access. 2022;10:107202–13. https://doi.org/10.1109/access.2022.3213054 Li Z Zhang E Zhai B Li B. Master-Slave Arm Heterogeneous Mapping With Link Pose Constraint in Teleoperation System . IEEE Access . 2022 ; 10 : 107202 13 . https://doi.org/10.1109/access.2022.3213054 Search in Google Scholar

Wang J, Li H, Meng F, Ma R, Lai Q, Li J, et al. Control Strategy of Master-Slave Manipulator Based on Force Feedback for Decommissioning of Nuclear Facilities. Mathematical Problems in Engineering. 2022;2022:1–9. https://doi.org/10.1155/2022/9945758 Wang J Li H Meng F Ma R Lai Q Li J Control Strategy of Master-Slave Manipulator Based on Force Feedback for Decommissioning of Nuclear Facilities . Mathematical Problems in Engineering . 2022 ; 2022 : 1 9 . https://doi.org/10.1155/2022/9945758 Search in Google Scholar

Jin X, Guo S, Guo J, Shi P, Kawanishi M, Hirata H. Active Suppression Method of Dangerous Behaviors for Robot-Assisted Vascular Interventional Surgery. IEEE Transactions on Instrumentation and Measurement. 2022;71:1–9. https://doi.org/10.1109/tim.2022.3170997 Jin X Guo S Guo J Shi P Kawanishi M Hirata H. Active Suppression Method of Dangerous Behaviors for Robot-Assisted Vascular Interventional Surgery . IEEE Transactions on Instrumentation and Measurement . 2022 ; 71 : 1 9 . https://doi.org/10.1109/tim.2022.3170997 Search in Google Scholar

Shi H, Zhang B, Mei X, Song Q. Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot. Sensors. 2021;21(22):7489. https://doi.org/10.3390/s21227489 Shi H Zhang B Mei X Song Q. Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot . Sensors . 2021 ; 21 ( 22 ): 7489 . https://doi.org/10.3390/s21227489 Search in Google Scholar

Azizi A, Latifinavid M. Hybrid Artificial Intelligence Algorithm for Optimizing RFID Network Planning in Smart Manufacturing. Journal of Robotics. 2020;2020:1–14. https://doi.org/10.1155/2020/8564140 Azizi A Latifinavid M. Hybrid Artificial Intelligence Algorithm for Optimizing RFID Network Planning in Smart Manufacturing . Journal of Robotics . 2020 ; 2020 : 1 14 . https://doi.org/10.1155/2020/8564140 Search in Google Scholar

Azizi A, Latifinavid M. Artificial Neural Network Approach for Dynamic Behavior Optimization of Robotic Arms in Industry 4.0. Journal of Robotics. 2017;2017:1–10. https://doi.org/10.1155/2017/8728209 Azizi A Latifinavid M. Artificial Neural Network Approach for Dynamic Behavior Optimization of Robotic Arms in Industry 4.0 . Journal of Robotics . 2017 ; 2017 : 1 10 . https://doi.org/10.1155/2017/8728209 Search in Google Scholar

Latifinavid M, Azizi A. Development of a Vision-Based Unmanned Ground Vehicle for Mapping and Tennis Ball Collection: A Fuzzy Logic Approach. Future Internet. 2023;15(2):84. https://doi.org/10.3390/fi15020084 Latifinavid M Azizi A. Development of a Vision-Based Unmanned Ground Vehicle for Mapping and Tennis Ball Collection: A Fuzzy Logic Approach . Future Internet . 2023 ; 15 ( 2 ): 84 . https://doi.org/10.3390/fi15020084 Search in Google Scholar

Azizi A, Latifinavid M. Ring Probabilistic Logic Neural Network for Active Suspension Control in Vehicles. In: Ahram T, Taiar R, Colson S, Choplin A eds. Advances in Intelligent Systems and Computing. Singapore: Springer. 2019;943:35–45. https://doi.org/10.1007/978-981-13-2640-0_4 Azizi A Latifinavid M. Ring Probabilistic Logic Neural Network for Active Suspension Control in Vehicles . In: Ahram T Taiar R Colson S Choplin A eds. Advances in Intelligent Systems and Computing . Singapore : Springer . 2019 ; 943 : 35 45 . https://doi.org/10.1007/978-981-13-2640-0_4 Search in Google Scholar

Kim Y-S, Dagalakis NG, Marvel J, Cheok G. Design and Testing of Wireless Motion Gauges for Two Collaborative Robot Arms. Measurement Science Review. 2022;22(2):84–91. https://doi.org/10.2478/msr-2022-0011 Kim Y-S Dagalakis NG Marvel J Cheok G. Design and Testing of Wireless Motion Gauges for Two Collaborative Robot Arms . Measurement Science Review . 2022 ; 22 ( 2 ): 84 91 . https://doi.org/10.2478/msr-2022-0011 Search in Google Scholar

Liu Q, Guo H, Ma Y, Tian W, Zhang Z, Li B. Real-time error compensation of a 5-axis machining robot using externally mounted encoder systems. The International Journal of Advanced Manufacturing Technology. 2022;120(3–4):2793–802. https://doi.org/10.1007/s00170-022-08867-0 Liu Q Guo H Ma Y Tian W Zhang Z Li B. Real-time error compensation of a 5-axis machining robot using externally mounted encoder systems . The International Journal of Advanced Manufacturing Technology . 2022 ; 120 ( 3–4 ): 2793 802 . https://doi.org/10.1007/s00170-022-08867-0 Search in Google Scholar

Wang X, Li H, Zhang Y. 3D Scanning Based Precision Evaluation of Industrial Robots. Robotics and Computer-Integrated Manufacturing. 2019; 56; 123–130. https://doi.org/10.1016/j.rcim.2018.10.007 Wang X Li H Zhang Y. 3D Scanning Based Precision Evaluation of Industrial Robots . Robotics and Computer-Integrated Manufacturing . 2019 ; 56 ; 123 130 . https://doi.org/10.1016/j.rcim.2018.10.007 Search in Google Scholar

Chen J, Zhou F, Wu X. Multisensor Measurement System for Robot Positioning Accuracy Assessment. Sensors. 2020;20(4);1015. https://doi.org/10.3390/s20041015 Chen J Zhou F Wu X. Multisensor Measurement System for Robot Positioning Accuracy Assessment . Sensors . 2020 ; 20 ( 4 ); 1015 . https://doi.org/10.3390/s20041015 Search in Google Scholar

Li M, Xu W, Chen L. (2018). Integration of Structured Light scanning in Robot Trajectory Control for Enhanced Precision. IEEE Transactions on Industrial Electronics. 20188; 65(8): 6712–6720. https://doi.org/10.1109/TIE.2017.2787563 Li M Xu W Chen L. ( 2018 ). Integration of Structured Light scanning in Robot Trajectory Control for Enhanced Precision . IEEE Transactions on Industrial Electronics . 20188 ; 65 ( 8 ): 6712 6720 . https://doi.org/10.1109/TIE.2017.2787563 Search in Google Scholar

Chang Q, Gao X, Liu Y, Deng J, Zhang S, Chen W. Development of a cross-scale 6-DOF piezoelectric stage and its application in assisted puncture. Mechanical Systems and Signal Processing. 2022;174:109072. https://doi.org/10.1016/j.ymssp.2022.109072 Chang Q Gao X Liu Y Deng J Zhang S Chen W. Development of a cross-scale 6-DOF piezoelectric stage and its application in assisted puncture . Mechanical Systems and Signal Processing . 2022 ; 174 : 109072 . https://doi.org/10.1016/j.ymssp.2022.109072 Search in Google Scholar

LI H, Xu Y, Zhang C, Yang H. Kinematic modeling and control of a novel pneumatic soft robotic arm. Chinese Journal of Aeronautics. 2022;35(7):310–9. https://doi.org/10.1016/j.cja.2021.07.015 LI H Xu Y Zhang C Yang H. Kinematic modeling and control of a novel pneumatic soft robotic arm . Chinese Journal of Aeronautics . 2022 ; 35 ( 7 ): 310 9 . https://doi.org/10.1016/j.cja.2021.07.015 Search in Google Scholar

Jakubowicz M. Accuracy of roundness assessment using air gauge with the slot-shaped measuring nozzle. Measurement. 2020 Apr;155:107558. https://doi.org/10.1016/j.measurement.2020.107558 Jakubowicz M. Accuracy of roundness assessment using air gauge with the slot-shaped measuring nozzle . Measurement . 2020 Apr ; 155 : 107558 . https://doi.org/10.1016/j.measurement.2020.107558 Search in Google Scholar

Dietrich E, Schulze A. Statistical Procedures for Machine and Process Qualification. 1st ed. Munich: Hanser Publications; 2010. Dietrich E Schulze A. Statistical Procedures for Machine and Process Qualification . 1st ed. Munich : Hanser Publications ; 2010 . Search in Google Scholar