Full-stack software / hardware developer with 4+ years experience specializing in user-friendly desktop and mobile applications as well as powerful FPGA-based hardware solutions. Contact me for job offerings.

Work Experience


  • Software Development (master): C++ Java Objective-C OpenCV Qt
  • Hardware Development (advanced): CadSoft EAGLE FPGA-based Image Processing Microcontroller VHDL Xilinx ISE / Vivado
  • Project (intermediate): Agile MS Project / Open Project Pair programming Versioning (SVN, Git, GitHub)


  • Embedded Systems and Microrobotics, Master,  University of Oldenburg

    Oct 2010 - Sep 2012

    Low Energy System Design FPGA-based Hardware Development Microrobotics and Control Engineering Fuzzy Control Engineering Hardware Design and Optimisation Human Machine Interaction
  • Computing Science, Bachelor,  University of Oldenburg

    Oct 2007 - Sep 2010

    Embedded Systems Microsystems Technology System Usability Engineering Multiple Programming Courses (C++, Java, MatLab, VHDL)


  • Grand Prize Winners Start-Up Competition IKT Innovativ,  German Federal Ministry of Economics and Technology (BMWi)

    Awarded on: Sep 2015


  • Automated Calibration of RF On-Wafer Probing and Evaluation of Probe Misalignment Effects Using a Desktop Micro-Factory ,  Journal of Computer and Communications

    Published on: Jan 2016

    A fully automatic setup for on-wafer contact probing will be presented. This setup consists of six automatable nano positioning axes used as tool holder and a sample holder. With this setup a fully automatic one-port SOL calibration for a Vector Network Analyzer is done. Furthermore a fully automated on-wafer contact probing is performed. Afterwards, the effects of a misalignment of the three tips of a GSG-probe are examined. Additionally the error on the calibration is calculated to determine its effect on the measurement. The results show, that a misalignment of the probe has a high impact on the measurement of the VNA. Hence a fully automated on-wafer probing presented in this paper is a good way to detect these misalignments and correct them if necessary.

  • Automated Micro- and Nanohandling inside the Scanning Electron Microscope ,  Wiley

    Published on: Oct 2015

    Book chapter in Micro- and Nanomanipulation Tools, Editor: Y. Sun and X. Liu, ISBN: 978-3-527-33784-2

  • Intuitive control of a microfactory using a dual haptic device setup ,  VDE

    Published on: Oct 2015

    The manual assembly of microsystems in small volumes or for prototyping is reaching its limits. This is primarily due to the constant miniaturization of their components. As a solution, the prototype of a novel desktop microfactory will be presented. The system consists of several tool arms, which are driven by haptic input and output devices. A typical assembly example shows, that the system allows for easy entry to micro assembly, hence the work with precision tools is imitated. Thus, a direct transfer of experience and knowledge possible.

  • Automated robotic manipulation of individual sub-micro particles using a dual probe setup inside the scanning electron microscope ,  IEEE

    Published on: May 2015

    Micro- and nanosized objects aligned in specific spatial order are of great interest for applications in photonics and nanoelectronics. In particular, piezo-actuated robotic setups are promising tools to arrange and manipulate these objects individually. However, automated robotic processing on the sub-micron scale remains challenging due to the force scaling laws and the limited possibilities in terms of control. This paper presents the current progress on fully-automated pick-and-place routines of individual colloidal particles using a dedicated dual-probe setup inside a scanning electron microscope. Applying tailored probes in combination with image processing of the visual feedback provided by the microscope allow for complex automation sequences. The limits of the current technique are highlighted and the challenges for automated processing of progressively smaller particles are discussed.

  • Advanced methods for high-speed template matching targeting FPGAs ,  IOP

    Published on: Nov 2014

    Template matching is an important image processing operation for object detection and tracking tasks especially because of its very high accuracy. Yet, one major disadvantage of this algorithm is its very high computational costs due to its high complexity. As off-the-shelf computers are often too slow to manage tracking with high update rates, the paper outlines three successive approaches for high-speed template matching targeting FPGAs to find small and robust templates. The first approach contains the basic algorithm and is refined by the following two approaches using pre-processing. The resulting templates allow for using the programmable hardware of an FPGA to cache necessary image information and, more importantly, to derive the best matching of template and source image, which results in high update rates. This paper shows novel approaches to high-speed template matching on FPGAs. The validation of these approaches has shown that the resulting tracking quality and feasibility is highly dependent on the relative size of the template in regard to the object to track. The results show tracking uncertainties between one single pixel for low and hundreds of pixels for high resolution videos.

  • Automated robotic manipulation of individual colloidal particles using vision-based control ,  IEEE / ASMS Transactions on Mechatronics

    Published on: Oct 2014

    Automated manipulation of micro- and nanosized objects using robotic setups constitutes a major challenge due to the force-scaling laws and the limited control possibilities on that scale. This paper presents a new developed approach for automated manipulation of individual colloidal particles using a dedicated dual-probe setup inside a scanning electron microscope. Based on tailored probe geometries, the setup allows for reliable pick-up and release sequences of individual particles. Applying image processing of the visual feedback provided by the microscope enables for direct and fast control of the complex manipulation routines and thus allows for fully automated alignment sequences. Experimental results reveal a high repeatability of the process with hitherto unrivaled precision. The advantages and limits of this technique are highlighted with respect to further application scenarios.

  • Robotic dual probe setup for reliable pick and place processing on the nanoscale using haptic devices ,  IEEE / RSJ

    Published on: Sep 2014

    This work presents reproducible pick and place handling of particles within the sub micron range. The handling strategy is based on a robotic dual probe setup that is integrated into a high resolution scanning electron microscope. By purposeful utilization of the predominant adhesive forces on the nanoscale, this setup facilitates the assembly of overall complex arrangements of different nanoparticles using haptic devices. The paper discusses control issues of the setup as well as the advantages and restrictions of the proposed technique.

  • Integrating robotic software frameworks for convenient software component exchange in micro- and nanoscale applications ,  IEEE / ASME

    Published on: Jul 2014

    Software development is a little discussed but essential part of micro- and nanoscale robotic systems. Current robotic systems are often controlled by a monolithic software that is either provided by the hardware manufacturer or specially tailored software for a particular application. One of the major challenges is to provide the research community with means that enable easy integration of software produced by different partners. The provided solution should not be bound to any particular programming language or scheme. This paper describes the currently used software approaches in control of micro- and nanorobotic systems. Progress towards convenient software integration is showcased by integrating two robotic software frameworks OFFIS automation framework and ROS. The first is an example of micro- and nanoscale oriented robotic software frameworks and the latter is designed for the needs of conventional robotic applications. The proposed integration approach is validated by an exemplary use case of a pick-and-place operation.

  • A flexible and compact high precision micro-factory for low volume production and lab-automation ,  ISR/Robotik

    Published on: Jun 2014

    Current factories for applications on the microscale use a relative large base-area and are highly adapted to a specific task. Additionally, these factories are extremely expensive and therefore not reasonable for production lines with low production volumes or lab environments. Therefore, a novel type of micro-factory is needed, satisfying the goals of high precision, fast reconfigurability, easy use of telecontrol and support for automation. A mechanical system that fulfills the requirements of high precision and fast reconfigurability is presented. The system is controlled by a software framework that allows for telecontrolled manipulation as well as for fully automated sequences. The framework features image-processing, hardware-control and scripted automation. The system at hand is a lab-prototype, already reaching precisions better than 100 nm and is easily controllable using gamepads or haptic devices.

  • Automated mechanical characterization of 2-D materials using SEM based visual servoing ,  International Journal of Optomechatronics

    Published on: Feb 2014

    Nanorobotic techniques are well-known for characterization and processing of two-dimensional materials. However, until now, most of the proposed handling procedures required manual feedback. This article presents an automated handling approach of two-dimensional nanomaterials using a robotic setup inside a high-resolution scanning electron microscope. Applying image processing of the visual feedback provided by the electron microscope, a fully automated sequence is developed to align a robotic driven force sensor with sub-micrometer accuracy and to conduct nanoindentation measurements on a periodically perforated substrate. As an example, this automated sequence is utilized to examine the mechanical properties of a few-layer graphene membrane. The results of the mechanical characterization are compared to Raman spectroscopy data. The article discusses the advantages and restrictions of this technique and responds to further application scenarios.

  • Fast and robust position determination in the scanning electron microscope ,  ARAA

    Published on: Dec 2013

    This paper deals with the extraction of small object positions in the scanning electron microscope (SEM). An approach based on line scanning and new object tracking approaches are presented and evaluated for their capabili- ties to reliably track objects in the SEM when the objects are moving quickly. Image acquisition of such fast moving objects has the issue of strong distortions and very high displacements, which can affect the performance of the algorithms. The new approaches are compared to common image processing algorithms.

  • A rapid automation framework for applications on the micro-and nanoscale ,  ARAA

    Published on: Dec 2013

    Automation on the micro- and nanoscale requires special robotic approaches that differ from the established approaches in macrorobotic. Robotics on the micro- and nanoscale does not use kinematic chained systems, but direct actuation principles. Especially on the nanoscale reliable sensors for positioning are rare. Internal position sensor for linear or rotatory systems exist, but measure at the actuator base, which is normally several mm or cm away from the tool center point. Due to thermal drift, electrostatic charge and other effects on the small scale this positions are often not reliable enough. Therefore, optical and scanning electron microscopes are used as main sensor and hence automation on this scale requires a focus on object-tracking and perception based on visual information. As most automation processes on this scale are prototypic nature, a supporting framework should allow for rapid prototyping of image-processing and automation.

  • Closing the loop: High-speed visual servoing and control of a commercial nanostage inside the SEM ,  IEEE

    Published on: Aug 2013

    In micro- and nanorobotics, it is important to increase closed-loop performance to achieve high-throughput for industrial applications. By using dedicated line scans instead of scanning microscope image acquisition, bottlenecks such as limited update rate, long latency and unpredictable jitter can be overcome. Earlier experiments used the line-scan approach for visual servoing of a custom made mobile robot. In this paper, the line-scan approach is used to guide the closed loop positioning of a Physik Instrumente (PI) nanostage. Additionally to the linescan controller and the commercial PI-stage controller, an FPGA system that acts as additional position controller was developed. Several evaluation measurements show the performance of the implementation in terms of accuracy and performance for the nanorobotic stage.

  • Comparison of different design methodologies of hardware-based image processing for automation in microrobotics ,  IEEE / ASME

    Published on: Jul 2013

    Object-detection and classification is a key task in micro- and nanohandling. The microscopy image is often the only available sensor to detect information about the positions and orientations of objects. FPGA-based image processing is superior to state of the art PC-based image processing in terms of achievable update rate, latency and jitter. Development of specialized FPGA solutions for object detection and tracking using a hardware-description language is time consuming and requires deep knowledge of the target system. Using SystemC, a C++ based class library, fast implementation with less knowledge of the system is possible. However, the gain in development speed is accompanied by higher resource usage of the FPGA and lower performance regarding computation speed. In this paper, several image processing algorithms are implemented in both manners and are compared regarding achievable update-rate, resource consumption and development time. The SystemC implementations could be implemented twice as fast and with less knowledge about the system. The increased resource usage of SystemC is negligible for small series and prototyping applications, while the decreased computation speed may be problematic for high-speed applications.


German (Native speaker) English (Full professional proficiency)