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Thomas Seel

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Address

© Michael Gromotka
Dr.-Ing. Thomas Seel

Technische Universität Berlin
Fakultät für Elektrotechnik und Informatik
Institut für Energie- und Automatisierungstechnik
Fachgebiet Regelungssysteme
Sekretariat EN11
Einsteinufer 17 (map)
D-10587 Berlin
Germany

Office: EN 221 (Elektrotechnik Neubau)
Phone: +49 (0)30 314-78691
Fax: +49 (0)30 314-21137
Email: seel@control.TU-berlin.de


Teaching

for teaching activities at the Turkish-German University Istanbul, please visit the TAU Website

Control Challenge

If you are interested in applying control methods to example application systems beyond the scope of your coursework, please feel encouraged to download any of the following animated Xcos simulation files and face the challenges within!

Please submit your solutions as well as feedback for improvement any time via email or at EN-221.
Many thanks to Philipp Zitzlaff for programming the animated Xcos simulation files!

Office Hours

  • on demand / anytime (but please email or call me in advance if you have many questions)
  • from two weeks before exams, only Tuesday 1–2 pm (and on appointment)

Brief Biography

I studied Engineering Cybernetics at OvGU Magdeburg in Germany from 2004 to 2010, spent a year abroad at UCSB, and completed an internship as well as my diploma thesis at Linde Engineering in Munich, Germany. Since 2010 I have been working as a research associate in the Control Systems Group headed by Prof. Jörg Raisch at TU Berlin. In 2015, I defended my dissertation entitled "Learning control and inertial realtime gait analysis in biomedical applications", which had been evaluated by Prof. Dirk Abel, Dr. Juan Moreno Sastoque and Prof. Jörg Raisch. Currently I am responsible for the Control System Group's research focuses Learning Control and Inertial Motion Tracking.

Research

I am intrigued with the application of control theory to all kinds of applications. But my main research interest is in Learning Control and inertial motion tracking for biomedical engineering applications. Here is an overview of more specific research topics I am working on or have worked on in recent years:

Learning Control Methods and Applications

Intelligent Inertial Sensor Networks

IMU-related Research Collaborations

Further Research Collaborations

Publications

Peer-reviewed articles published in JOURNALS

D. Laidig, P. Müller, T. Seel. Automatic Anatomical Calibration for IMU-based Elbow Angle Measurement in Disturbed Magnetic Fields. Current Directions in Biomedical Engineering, 3 (2):167–170, 2017.
P. Müller, M. A. Bégin, T. Schauer, T. Seel. Alignment-Free, Self-Calibrating Elbow Angles Measurement using Inertial Sensors. IEEE Journal of Biomedical and Health Informatics, 21 (2):312–319, 2017.
T. Seel, S. Ruppin. Eliminating the Effect of Magnetic Disturbances on the Inclination Estimates of Inertial Sensors. IFAC-PapersOnLine, 50 (1):8798–8803, 2017.
P. Müller, C. Balligand, T. Seel, T. Schauer. Iterative Learning Control and System Identification of the Antagonistic Knee Muscle Complex During Gait Using Functional Electrical Stimulation. IFAC-PapersOnLine, 50 (1):8786–8791, 2017.
A. Passon, T. Klewe, T. Seel, T. Schauer,. A new approach for a Patient-Cooperative Upper Limb FES Support based on Vector Fields. IFAC-PapersOnLine, 50 (1):9954–9960, 2017.
M. Valtin, C. Salchow, T. Seel, D. Laidig, T. Schauer. Modular finger and hand motion capturing system based on inertial and magnetic sensors. Current Directions in Biomedical Engineering, 3 (1):19–23, 2017.
T. Seel, C. Werner, T. Schauer. The Adaptive Drop Foot Stimulator – Multivariable Learning Control of Foot Pitch and Roll Motion in Paretic Gait. Medical Engineering Physics, 38 (11):1205–1213, 2016.
T. Seel, T. Schauer, J. Raisch. Monotonic Convergence of Iterative Learning Control with Variable Pass Length. International Journal of Control, 90 (3):409–422, 2016.
T. Seel, C. Werner, J. Raisch, T. Schauer. Iterative Learning Control of a Drop Foot Neuroprosthesis – Generating Physiological Foot Motion in Paretic Gait by Automatic Feedback Control. Control Engineering Practice, 48 (1):87–97, 2016.
D. Laidig, S. Trimpe, T. Seel. Event-Based Sampling for Reducing Communication Load in Realtime Human Motion Analysis by Wireless Inertial Sensor Networks. Current Directions in Biomedical Engineering, 2 (1):711–714, 2016.
D. Graurock, T. Schauer, T. Seel. Automatic Pairing of Inertial Sensors to Lower Limb Segments – A Plug-and-Play Approach. Current Directions in Biomedical Engineering, 2 (1):715–718, 2016.
C. Salchow, M. Valtin, T. Seel, T. Schauer. A new semi-automatic approach to find suitable virtual electrodes in arrays using an interpolation strategy. European Journal of Translational Myology, 26 (2):715–718, 2016.
T. Schauer, T. Seel, N. Bunt, P. Müller, J.C. Moreno. Realtime EMG analysis during transcutaneous electrical stimulation assisted gait training in stroke patients. IFAC-PapersOnLine, 49 (32):183–187, 2016.
T. Seel, M. Ruppel, M. Valtin, T. Schauer. Multichannel FES Parameterization for Controlling Foot Motion in Paretic Gait. Current Directions in Biomedical Engineering, 1 (1):480–483, 2015.
T. Seel, D. Graurock, T. Schauer. Realtime Assessment of Foot Orientation by Accelerometers and Gyroscopes. Current Directions in Biomedical Engineering, 1 (1):466–469, 2015.
T. Seel, M. Valtin, C. Werner, T. Schauer. Multivariable Control of Foot Motion During Gait by Peroneal Nerve Stimulation via two Skin Electrodes. IFAC-PapersOnLine, 48 (20):315–320, 2015.
J. Schiffer, T. Seel, J. Raisch, T. Sezi. Voltage Stability and Reactive Power Sharing in Inverter-Based Microgrids with Consensus-Based Distributed Voltage Control. IEEE Transactions on Control Systems Technology, 24 (1):96–109, 2015.
T. Seel, S. Schneider, K. Affeld, T. Schauer. Design of a Learning Cascade Controller for a Continuous Noninvasive Blood Pressure Measurement System (in German). at - Automatisierungstechnik, 63 (1):5–13, 2015.
T. Seel, L. Landgraf, Víctor Cermeño Escobar, J. Raisch, T. Schauer. Online Gait Phase Detection with Automatic Adaption to Gait Velocity Changes Using Accelerometers and Gyroscopes. Biomedical Engineering / Biomedizinische Technik, 59 (s1):795–798, 2014.
T. Seel, T. Schauer, J. Raisch. IMU-Based Joint Angle Measurement for Gait Analysis. Sensors, 14 (4):6891–6909, 2014.
T. Seel, T. Schauer, J. Raisch. Iterative Learning Control with Variable Pass Length applied to FES-based Drop Foot Treatment (in German). at - Automatisierungstechnik, 61 (9):630–37, 2013.
T. Seel, M. Valtin, T. Schauer. Neue Technologien für die Peroneusstimulation: Bessere Versorgung bei Fußheberschwäche. Deutsche Zeitschrift für klinische Forschung, 17 (4):43–47, 2013.
O. Lupu, M. Madashi, T. Seel, A. Cologni, F. Previdi, T. Schauer. Iteratively Learning Electromyography (EMG)-based Functional Electrical Stimulation (FES) for Stroke Rehabilitation. Biomed Tech, 57 (Suppl. 1) 2012.

Peer-reviewed articles published in CONFERENCE proceedings

D. Laidig, T. Schauer, T. Seel. Exploiting Kinematic Constraints to Compensate Magnetic Disturbances when Calculating Joint Angles of Approximate Hinge Joints from Orientation Estimates of Inertial Sensors. In Proc. of 15th IEEE Conference on Rehabilitation Robotics (ICORR), pages 971–976, London, UK, 2017.
P. Müller, T. Schauer, T. Seel. Automatische Kalibrierung zur Messung der Ellbogenwinkel bei beliebiger Ausrichtung der Inertialsensorik. In Workshop AUTOMED, Wismar, Germany, 2016.
C. Salchow, M. Valtin, T. Seel, T. Schauer. Development of a Feedback-Controlled Hand Neuroprosthesis: FES Supported Mirror Training. In Workshop AUTOMED, Wismar, Germany, 2016.
D. Graurock, T. Schauer, T. Seel. User-Adaptive Inertial Sensor Network for Feedback-Controlled Gait Support Systems. In Proc. of the 20th Annual International FES Society Conference, pages 1–4, La Grande Motte, France, 2016.
P. Müller, M. A. Bégin, T. Schauer, T. Seel. Alignment-free, self-calibrating elbow angles measurement using inertial sensors. In Proc. of the IEEE-EMBS International Conference on Biomedical and Health Informatics (BHI), pages 583–586, Las Vegas, USA, 2016.
N.D. Bunt, J.C. Moreno, P. Müller, T. Seel, T. Schauer. Online Monitoring of Muscle Activity during Walking for Bio-Feedback and for Observing the Effects of Transcutaneous Electrical Stimulation. In Proc. of the International Conference on Neurorehabilitation, Segovia, Spain, 2016.
P. Müller, T. Seel, T. Schauer. Experimental Evaluation of a Novel Inertial Sensor Based Realtime Gait Phase Detection Algorithm. In Proc. of the 5th European Conference on Technically Assisted Rehabilitation - TAR 2015, Berlin, Germany, 2015.
T. Seel, D. Laidig, M. Valtin, C. Werner, J. Raisch, T. Schauer. Feedback Control of Foot Eversion in the Adaptive Peroneal Stimulator. In Proceedings of the 22nd IEEE Mediterranean Conference on Control and Automation, pages 1482–1487, Palermo, Italy, 2014.
D. Laidig, T. Seel, T. Schauer. Entwicklung einer inertialsensorbasierten Eversionswinkelregelung für einen Peroneus-Stimulator. In Proceedings of the 7th International Symposium on Automatic Control, pages 1–12, Wismar, Germany, 2014.
J. Schiffer, T. Seel, J. Raisch, T. Sezi. A Consensus-Based Distributed Voltage Control for Reactive Power Sharing in Microgrids. In Proceedings of the 13th European Control Conference, pages 1299–1305, Strasbourg, France, June 2014.
M. Valtin, T. Seel, J. Raisch, T. Schauer. Iterative learning control of drop foot stimulation with array electrodes for selective muscle activation. In Preprints of the 19th World Congress, The International Federation of Automatic Control, pages 6586-6592, Cape Town, South Africa, 2014.
T. Seel, S. Weber, K. Affeld, T. Schauer. Iterative Learning Cascade Control of Continuous Noninvasive Blood Pressure Measurement. In IEEE International Conference on Systems, Man, and Cybernetics, pages 2207-2212, Manchester, UK, 2013.
M. Guth, T. Seel, J. Raisch. Iterative Learning Control with Variable Pass Length Applied to Trajectory Tracking on a Crane with Output Constraints. In Proceedings of the 52nd IEEE Conference on Decision and Control, pages 6676–6681, Firenze, Italy, December 2013.
T. Seel, S. Weber, K. Affeld, T. Schauer. Iterativ lernende kaskadierte Regelung eines nichtinvasiven Blutdruck-Messsystems nach Penaz. In Workshop AUTOMED, Dresden, Germany, 2013.
T. Seel, S. Schäperkötter, M. Valtin, C. Werner, T. Schauer. Design and Control of an Adaptive Peroneal Stimulator with Inertial Sensor-based Gait Phase Detection. In 18th Annual International FES Society Conference, pages 177-180, San Sebastian, Spain, 2013.
T. Seel, T. Schauer. IMU-based Joint Angle Measurement Made Practical. In Proc. of the 4th European Conference on Technically Assisted Rehabilitation - TAR 2013, Berlin, Germany, 2013.
T. Seel, T. Schauer, J. Raisch. Joint Axis and Position Estimation from Inertial Measurement Data by Exploiting Kinematic Constraints. In IEEE Multi-Conference on Systems and Control, pages 45–49, Dubrovnik, Croatia, 2012.
T. Seel, T. Schauer, J. Raisch. Variable Pass Length ILC in FES-based Drop Foot Rehabilitation. In Workshop AUTOMED, Aachen, Germany, 2012.
T. Seel, T. Schauer, J. Raisch. Iterative Learning Control for Variable Pass Length Systems. In Proceedings of the 18th IFAC World Congress, pages 4880–85, Milan, Italy, 2011.

Supervised Theses

Fabian Erik Lorz. Modellierung und Regelung einer an acht Seilen geführten Last bei Kranen. Master Thesis, TU Berlin, Germany, 2017.
Jonas Beuchert. Entwurf einer lernenden Regelung für das Aufschwingen eines Pendels. Bachelor Thesis, TU Berlin, Germany, 2017.
Florian Röder. Development of an IMU-based Gait Analysis Tool with Data Loss and Delay Handling, Realtime Visualization and Graphical User Interface. Master Thesis, TU Berlin, Germany, 2017.
Humam Smadi. Model-Based Control of Variable Volume Flow Ventilation Systems. Master Thesis, TU Berlin, Germany, 2017.
Michael Lorenz. Towards realtime estimation of human motion using inertial sensors without magnetometers – an optimization-based filtering approach. Master Thesis, TU Berlin, Germany, 2016.
Fabricio Rodrigues Monteiro. Applications of Sensorless Control for Automotive Transmissions. Master Thesis, TU Berlin, Germany, 2016.
Eric Kolibacz. Enwicklung einer Nutzerschnittstelle mit virtuellem Echtzeit-Biofeedback für die Gangrehabilitation. Master Thesis, TU Berlin, Germany, 2016.
Daniel Laidig. Realtime Motion Analysis by Wireless Inertial Sensor Networks in Inhomogeneous Magnetic Fields. Master Thesis, TU Berlin, Germany, 2016.
Jon Scouten. Zeit-Frequenz-Analyse der Herzratenvariabilität zur Erkennung mentaler Beanspruchung. Master Thesis, TU Berlin, Germany, 2016.
Michal Zajac. Regelung einer Windenergieanlage mit variabler Rotordrehzahl zur Optimierung der Leistungsaufnahme im Teillastbereich. Master Thesis, TU Berlin, Germany, 2016.
Ashkan Ghodratbaki. Modellierung lose gekoppelter Systems-of-Systems am Beispiel eines Cooperative Adaptive Cruise Control (CACC) Fahrerassistenzsystems. Master Thesis, TU Berlin, Germany, 2016.
David Graurock. Realtime Motion Capture via Plug-and-Play Inertial Sensor Networks in Feedback-Controlled Gait Neuroprostheses. Master Thesis, TU Berlin, Germany, 2016.
Mirjana Ruppel. Implementation and Evaluation of Decoupling Strategies for a Two-Channel Gait Neuroprosthesis. Bachelor Thesis, TU Berlin, Germany, 2015.
Daniela Friedrich. Terrainabhängige Vorsteuerung einer geregelten Fallfuß-Neuroprothese. Master Thesis, TU Berlin, Germany, 2015.
Boris Henckell. Experimentelle Evaluierung und Weiterentwicklung eines geregelten Peroneusstimulators in der klinischen Praxis. Master Thesis, TU Berlin, Germany, 2015.
Florian Röder. Entwicklung eines Echtzeit-Softwaremoduls für die Inertialsensor-Ganganalyse und die geregelte Elektrostimulation. Bachelor Thesis, TU Berlin, Germany, 2015.
Lucian Landgraf. Robustheit gegenüber magnetischen Störungen bei der Inertialsensor-basierten Schätzung von Körpersegmentorientierungen. Master Thesis, TU Berlin, Germany, 2015.
Daniel Laidig. Entwicklung einer adaptiven inertialsensorbasierten Supinationskorrektur für einen Peroneus-Stimulator. Bachelor Thesis, TU Berlin, Germany, 2014.
Sebastian Scheel. Implementation and optimization of an inertial sensor based real-time gait analysis. Master Thesis, TU Berlin, Germany, 2014.
Ekkehard von der Waydbrink. Regelungsorientierte Systemidentifikation von Windenergieanlagen mittels TS-Modellstrukturen. Master Thesis, TU Berlin, Germany, 2014.
Steffen Schäperkötter. Regelung und experimentelle Evaluierung eines Peroneus-Stimulators mit Inertialsensor-basierter Gangphasenerkennung. Master Thesis, TU Berlin, Germany, 2013.
Víctor Cermeño Escobar. Development and Implementation of an Inertial Sensor-based Online Gait Phase Detection. Master Thesis, ETSI Sevilla, Spain, 2013.
Diana Steinecke. Iterativ lernende Regelung eines nichtinvasiven Blutdruck-Messsystems. Bachelor Thesis, TU Berlin, Germany, 2013.
Florian Heptner. Entwicklung einer PC-Schnittstelle und Mikrocontroller-basierten Aktuatorregelung für eine nichtinvasive Blutdruckmessung. Bachelor Thesis, TU Berlin, Germany, 2013.
Ahn Tuan Le. Offline-Konfiguration einer Array-Elektrode für die iterativ lernende Regelung eines Peroneus-Stimulators. Master Thesis, TU Berlin, Germany, 2013.
Octavian Lupu. Motion-Intention-Driven Adaptive Stimulation for Stroke Rehabilitation. Master Thesis, TU Berlin, Germany, 2013.
Eicke Risse. Aufbau und Regelung eines Inversen Pendels mit Integration in ein Hardware-in-the-Loop-Testsystem. Bachelor Thesis, TU Berlin, Germany, 2013.
Mickaël Guth. Iterative Learning Control for Variable Pass Length Systems - Application to Trajectory Tracking with Output Constraints on a Laboratory-Scale Gantry Crane. Master Thesis, TU Berlin, Germany, 2012.
Charlotte Lamotte. Controller design for the continuous non-invasive blood pressure measurement. Third year intership report, ENSEIRB-MATMECA Bordeaux, France, 2012.

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