• System level modeling and closed loop control for a droplet-based micro-actuator, Kopp, A.M., Conrad, P.,  Hoffmann, M., Ament, Ch., 2023 SICE International Symposium on Control Systems (SICE ISCS), Kusatsu, Japan, 2023, pp. 33-40
  • Force Control of a 1-DoF Cable Robot Using Deep Reinforcement Learning, Hamann, M., Brandl, J., Ament, C., 2023 SICE International Symposium on Control Systems (SICE ISCS), Kusatsu, Japan, pp. 86 -92, DOI: 10.23919/SICEISCS57194.2023.10079206
  • Force Control of a 1-DoF Cable Robot Using ANARX for Output Feedback Linearization, Hamann, M., Höpfner, V., Ament, Ch., CableCon 2023 International Conference on Cable-Driven Parallel Robots, June 25-28, 2023, Nantes, France, pp. 173 - 183
  • Simulation of Particle Motion on Rotating Cone Feeder for a Multihead Weigher Based on Dynamic Friction Modeling. Hartmann, J.I., Olbrich, M., Hamann, M., Ament, C., 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). June 28-30, 2023, Seattle, USA, DOI: 10.1109/AIM46323.2023.10196110


  • Modeling and Control Design of a Contact-Based, Electrostatically Actuated Rotating Sphere, Olbrich, M., Farny, M., Hoffmann, M., Ament, C., Actuators, 11(3), DOI: 10.3390/act11030090
  • Model Order Reduction of a Nonlinear Electromechanical Beam Actuator by Clustering Nonlinearities, Schütz, A., Farny, M., Olbrich, M., Hoffmann, M., Ament, C., Bechtold, T., International Conference and Exhibition on New Actuator Systems and Applications (ACTUATOR 2022)
  • Kick & Catch: Coaction of an electrostatic kick and magnetic catch system for the rotation of a sphere, Farny, M., Olbrich, M., Ament, C., Hoffmann, M., International Conference and Exhibition on New Actuator Systems and Applications (ACTUATOR 2022)
  • Model-Order Reduction and System Distribution Using Krylov Subspaces – An Approach for Efficient State Estimation in Sensor and Actuator Networks”, Friedrich, F., Mayer, J., Ament, Ch., 2022 IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA49430.2022.9966157
  • Absolute Distance Measurement by a Decentralized and Distributed Multi-Lasertracker-System, Friedrich, F., Brandl, J., Ament, Ch., 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), DOI: 10.1109/AIM52237.2022.9863275
  • Model Order Reduction and Distribution for Efficient State Estimation in Sensor and Actuator Networks, Friedrich, F., Ament, Ch., 2022 Advanced in Science, Technology and Engineering Systems Journal (ASTESJ), DOI: 10.25046/aj070516
  • Data-based Fault Detection and Diagnosis Using Artificial Neural Networks to Enhance the Pneumatic Robot AirArm, Hamann, M., Wüstner, J., Schwab, T., Ament, C., 2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME). DOI:10.1109/ICECCME55909.2022.9988319


  • Acoustic levitation of a Mie sphere using a 2D transducer array, Zehnter, S., Andrade, M. A., & Ament, C., Journal of Applied Physics, 129(13), 134901

  • Development of Safety Concepts for Cable-Driven Parallel Robots, Winter D.L., Ament C., CableCon 2021,

  • Development of an Active End Effector for Cable Robot Calibration, Nüsse, P. M., Hamann, M., Winter, D. L., Ament, C., CableCon 2021,

  • Model-Based Control of a Planar 3-DoF Cable Robot Using Exact Linearization, Hamann, M., Ament, C., CableCon 2021,

  • Reduced and Distributed Estimation in Sensor and Actuator Networks - Automated Design Based on Controllability and Observability, Friedrich F., Mayer J. & Ament C., IEEE Conference on Control Technology and Applications (CCTA2021)

  • Parametric system-level models for position-control of novel electromagnetic free flight microactuator, Schütz, A., Olbrich, M., Hu, S., Ament, C., Bechtold, T., Microelectronics Reliability, 119, doi:10.1016/j.microrel.2021.114062

  • Design and Optimal Control of a Multistable, Cooperative Microactuator. Actuators, Olbrich, M., Schütz, A., Bechtold, T., Ament, C., Actuators, 10(8), doi:10.3390/act10080183


  • Multi-Step Approach for Sensitivity Analysis for a Unified Model of Glucose-Insulin Metabolism, Tolks, C., Ament, C., Eberle, C., IFAC-PapersOnLine 53 (2), S. 16394–16399. DOI: 10.1016/j.ifacol.2020.12.680.

  • Co-Design and Control of a Magnetic Microactuator for Freely Moving Platforms, Olbrich, M., Schütz, A., Kanjilal, K., Bechtold, T., Wallrabe, U., Ament, C., Proceedings of IeCAT 64 (1) S. 1–10, DOI: 10.3390/IeCAT2020-08494.


  • Towards a Precise Cable-Driven Parallel Robot – A Model-Driven Parameter Identification Enhanced by Data-Driven Position Correction, Hamann, M.; Nüsse, P.M.; Winter, D.; Ament, C., Fourth International Conference on Cable-Driven Parallel Robots (CableCon 2019), DOI: 10.1007/978-3-030-20751-9_31

  • Model of the Glucose-Insulin Metabolism incorporating both Type 1 and Type 2 Diabetes, Tolks, C.; Ament, C.; Eberle, C., Austrian International Biomedical Engineering Conference (AIBEC 2019)

  • A Modular FPGA-based Phased Array System for Ultrasonic Levitation with MATLAB, Zehnter, S., Ament, C., IEEE International Ultrasonics Symposium (IUS 2019), DOI: 10.1109/ULTSYM.2019.8926194

  • Optimization of Motion Control for a Variably Excited Linear Hybrid Stepper Motor, Weiss, Heiko; Shardt, Yuri A. W.; Ament, Christoph, IEEE International Conference on Mechatronics (ICM), DOI: 10.1109/ICMECH.2019.8722945

  • Rail Pressure Estimation for Fault Diagnosis in High Pressure Fuel Supply and Injection System, Hartl, F., Brueckner, J., Ament, C., Provost, J., 8th IFAC Symposium on Mechatronic Systems MECHATRONICS 2019: Vienna,


  • A Mobile Platform for Model-based Monitoring of Glucose-Insulin Homeostasis for Diabetics, Tolks, C.; Ament, C.; Eberle, C., ACM/IEEE International Conference on Connected Health: Applications, Systems and Engineering Technologies (CHASE ’18)

  • Model-driven Classification of Different Diabetes Types within a Personalized Diabetes Management, Tolks, C.; Ament, C.; Eberle, C., 40th International Engineering in Medicine and Biology Conference

  • Calibration Procedure for a Geometrically Reconfigurable 3-DoF Cable-Driven Parallel Robot, Hamann, M.; Ament, C., IASTED International Conference Modelling, Simulation and Identification (MSI 2018)


  • Model Order Reduction of Glucose-Insulin Homeostasis Using Empirical Gramians and Balanced Truncation, Tolks, C; Ament, C., 20th IFAC World Congress

  • An all-terrain-controller for over-actuated wheeled mobile robots with feedforward and optimization-based control allocation, Barthelmes, S.; Zehnter, S., 2017 IEEE 56th Annual Conference on Decision and Control (CDC)

  • Identification of parameters of the glucose-insulin homeostasis under everyday live conditions, Tolks, C; Ament, C., IEEE EMBS International Conference on Biomedical & Health Informatics (BHI)

  • Identifikationsstrategie für flexible, parallele Seilroboter auf Basis relativer Interferometer- und Seillängenmessungen, Hamann, M; Ament, C., VDE-GMA Fachausschuss


  • Identifikation des modularen, parallelen Seilroboters MoCaRo mittels Kraftsensorik, Hamann, M.; Ament, C., VDE-GMA Fachausschuss


  • Analyse und Ordnungsreduktion von Modellen der Glukose-Insulin-Homöostase auf Basis Empirischer Gramscher Matrizen, Tolks, C.; Ament, C., 49. Regelungstechnisches Kolloquium

  • Empirische Gramsche Matrizen für die Zustands- und Parameterraumreduktion von Modellen der Glukose-Insulin-Homöostase, Tolks, C.; Ament, C., VDE-GMA Fachausschuss


  • Quasi-static micromirror with enlarged deflection based on aluminum nitride thin film springs, Weinberger, S.; Nguyen, T.-T.; Ament, C., Sensors and actuators A-physical Volume: 210, Pages: 165-174

  • Vergleich der Scan-Performance bei Nanopositioniersystemen mit großem Bewegungsbereich, Zschäck, S.; Hesse, S.; Amthor, A.; Katzschmann, M.; Schäffel, C.; Ament, C., tm – Technisches Messen Band 81, Heft 6, S. 335-342

  • Novel individual metabolic profile characterizes the protein kinase B-alpha (pkbα-/-) in vivo model, Eberle C., Niessen M., Hemmings B., Tschopp O., Ament C., Arcives of Physiologgy and Biochemistry Volume: 120, Issue: 3, Pages: 91-98

  • Identification of tissue differentiation rates in a mechanobiological model of fracture healing, Eberle C., Ament C., Computer Methods in Biomechanics and Biomechanical Engineering Volume: 17, Issue: 7

  • Towards an Innovative Design for a Laser Tracker System for Fast and Precise Relative Localisation of Marine Robots, Eckstein, S., Hamann, M., Glotzbach, Th., Ament, C., 13th International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT)

  • Dynamic properties of contact thermometers for high temperatures, Augustin, S.; Fröhlich, T.; Ament, C., 20th World Congress of the International-Measurement-Confederation (IMEKO) – Metrology for Green Growth Location

  • Precise indoor localization of multiple mobile robots with adaptive sensor fusion using odometry and vision-based localization, Baatar, G.; Eichhorn, M.; Ament, C., 19th IFAC World Congress

  • A Prototyping System for Smart Wheelchairs, Fränzel, N., Weichert, F., Wenzel, A., Ament, C., Biomed Tech 2014

  • Range estimation system for powered wheelchairs, In: Shaping the future by engineering, Fränzel, N., Schroeder, Th., Ament, C., Weichert, F., Wenzel, A., 58th IWK, Ilmenau Scientific Colloquium

  • Scan performance of nanopositiong systems with large travel range, Hesse, S.; Schäffel, C.; Zschäck, S.; Ament, C.; Müller, A.; Manske, E., 58th IWK, Ilmenau Scientific Colloquium


  • Control of nanopositioning and nanomeasuring machines with a modular FPGA based data processing system, Zschäck, S.; Klöckner, J.; Gushchina, I.; Amthor, A.; Ament, C.; Fengler, W., Mechatronics, vol. 23, Issue 3, S. 257-263

  • A novel mathematical model detecting early individual changes of insulin resistance, Eberle C, Palinski W, Ament C., Diabetes Technology & Therapeutics

  • Integration of a position photodiode for a micro multi laser tracker system, Markweg, E. ; Schädel, M. ; Nguyen, T. T. ; Brodersen, O. ; Ament, C. ; Hoffmann, M., Smart Systems Integration, T. Gessner (Editor). - VDE Verlag

  • Individualisierte modellbasierte Analyse pathophysiologischer Mechanismen der Insulinresistenz am Protein Kinase B-alpha Modell, Eberle C. ; Niessen M. ; Tschöpp O. ; Ament C., Diabetologie & Stoffwechsel 2013

  • Neuartige individuelle Prädiktoren der generationsübergreifenden diabetischen Programmierung am in vivo Modell identifiziert, Eberle C. ; Ament C., Diabetologie & Stoffwechsel 2013

  • Towards innovative approaches of team-oriented mission planning and mission languages for multiple unmanned marine vehicles in event-driven mission, Eckstein, S.; Glotzbach, T. ; Ament, C.
    OCEANS13 - Bergen

  • Fast and Robust Online Calibration of a Multi Laser Tracking System, Nguyen T. T. ; Weiß H. ; Amthor A.. ; Ament C., Developments in eSystems Engineering (DeSE)

  • Mikrolasertracker zur multisensorischen 3D-Koordinatenmessung, Markweg, E. ; Nguyen, T. T. ; Weinberger, S. ; Ament, C. ; Hoffmann, M., MikroSystemTechnik Kongress 2013, T. Gessner (Editor). - VDE Verlag

  • Simulation of a laser tracker system for relative positioning of autonomous underwater vehicles, Hamann, M.; Eichhorn, M. ; Glotzbach, T. ; Ament, C., OCEANS13 - Bergen

  • Identifikationsverfahren für optische Messsysteme, Nguyen T. T. ; Weiß H. ; Amthor A.. ; Ament C., VDE-GMA Workshop


  • Performance evaluation of platform-specific implementations of numerically complex control designs for nano-positioning applications, Amthor, A. ; Mueller, M. ; Pacholik, A. ; Gushchina, I. ; Klöckner, J. ; Fengler, W., International Journal of Embedded Systems

  • Identifiability and online estimation of diagnostic parameters with in the glucose insulin homeostasis, Eberle C., Ament C., Biosystems. 107(3), pp. 135-141

  • Diabetic and metabolic programming: mechanisms altering the intrauterine milieu, Eberle C., Ament C.
    ISRN Pediatrics

  • Real-time state estimation and long-term model adaptation: a two-sided approach toward personalized diagnosis of glucose and insulin levels, Eberle C., Ament C., J Diabetes Sci Technol. 6(5), pp. 1148-58

  • Identification of tissue differentiation rates in a mechanobiological model of fracture healing, Eberle C., Ament C., Comput Methods Biomech Biomed Engin.

  • Dynamic Friction Modeling and Identification for High Precision Mechatronic Systems, Büchner, S.; Zschäck, S.; Amthor, A.; Ament, C.; Eichhorn, M., 38th Annual Conference of the IEEE Industrial Electronics Society

  • Maxwell Slip based Adaptive Friction Compensation in High Precision Applications, Zschäck, S.; Büchner, S.; Amthor, A.; Ament, C., 38th Annual Conference of the IEEE Industrial Electronics Society

  • Adaptive Control of High Precision Positioning Stages with Friction, Zschäck, S.; Büchner, S., Nguyen, T.T., Amthor, A.; Ament, C., International Conference on Control, Automation and Information Science (ICCAIS)

  • Nonlinear Modelling and Identification of a High Precision Laser Tracking System, Nguyen T. T., Amthor A., Springer M., Ament C., International Conference on Control, Automation and Information Science (ICCAIS)

  • Simulation of various arrangements for the multi laser tracker system, Nguyen T. T., Tolks C., Amthor A., Ament C., XX IMEKO World Congress, Metrology for Green Growth

  • Mehrgrößenregelung von Nanopositionier- und Nanomessmaschinen, Zschäck, S.; Ament, C., 46. Regelungstechnisches Kolloquium, Boppard

  • Dynamic Friction Modeling for DC-Motors, Büchner, S.; Amthor, A.; Zschäck, S.; Ament, C.; Eichhorn, M.
    Nietschke,W. (Hrsg.) ; Predelli,O. (Hrsg.): Automotive Powertrain Control Systems, S. 119–128

  • Optimierung komplexer Systeme – Erkenntnisse der Kybernetik für ein zukunftsfähiges Energiesystem nutzen, Ament C., Energieeffizienzkongress der Deutschen Energie-Agentur (dena)

  • Verfahren zur fehlerminimierten Bestimmung der Temperatur heißer Gase, Irrgang K., Ament C., Augustin, S., Güther T., Patentschrift: Verfahren zur fehlerminimierten Bestimmung der Temperatur heißer Gase

  • Building a Nanomeasuring Machine Using LabVIEW and NI PXI, Balzer, F.; Klöckner, J.; Zschäck, S.; Percle, B., Graphical System Design Achievement Awards (Winner in Advanced Control Systems),

  • Quality Control in Process Chains A 3-layer Concept and its Application in Production, Ament C., Vortrag des DFG-Graduiertenkollegs 1483 am Karlsruher Insitut für Technologie (KIT)

  • Beobachtbarkeit und Identifizierbarkeit in optischen Tracker-Systemen, Workshop des GMA-Fachausschuss 1.30 des VDI, S. 72-73

  • Regelung von Nanopositionier- und Nanomessmaschinen mittels einer modularen FPGA-Plattform, Zschäck, S. ; Klöckner, J. ; Amthor, A. ; Ament, C. ; Fengler, W., Tagungsband, 3. Landshuter Symposium Mikrosystemtechnik, S. 267-276


  • The Unscented Kalman Filter estimates the plasma insulin from glucose measurement Source, Eberle C.; Ament Christoph, BIOSYSTEMS Volume: 103 Issue: 1 Pages: 67-72

  • Identifiability and online estimation of diagnostic parameters in the glucose insulin homeostasis, Eberle C, Ament C., Biosystems. 2011 Nov 12.

  • Dynamical Friction Modelling and Adaptive Compensation on the Nanometer Scale, Amthor, A. ; Zschäck, S. ; Ament, C., 37th Annual Conference of the IEEE Industrial Electronics Society, pp. 511 – 516

  • Development of a miniaturized multisensory positioning device for laser dicing technology, Markweg, E. ; Nguyen, T. T. ; Weinberger, S. ; Ament, C. ; Hoffmann, M., Laser in Manufacturing, Physics Procedia Volume 12, Part 2, pp. 387-395

  • Communication of the multi laser tracker system used as position feedback sensor Conference, Nguyen T.T.; Amthor A.; Ament C., SPIE Eco-Photonics 2011: Sustainable Design, Manufacturing, and Engineering Workforce Education for a Green Future

  • Model Based Control of a Linear Stage Using a Contactless Optical Sensor System, Nguyen, T. T. ; Amthor, A. ; Zschäck, S. ; Lambeck, S., IEEE In-ternational Conference on Control System, Computing and Engineering

  • Decentralized High Precision Motion Control for Nanopositioning and Nanomeasuring Machines, Zschäck, S. ; Amthor, A. ; Ament, C., 37th Annual Conference of the IEEE Industrial Electronics Society, pp. 499 – 504

  • High Precision Laser Tracker System for Contactless Position Measurement, Nguyen, T. T. ; Amthor, A. ; Ament, C., IEEE International Conference on Control System, Computing and Engineering, Proceedings

  • Positionserfassung von flexiblen Roboterarmen mit einem optischen Mikrotrackersystem, Weinberger, S. ; Markwege, E. ; Nguyen, T. T. ; Hoffmann M. ; Ament C., MikroSystemTechnik KONGRESS 2011


  • Asymmetric Motion Profile Planning for Nanopositioning and Nanomeasuring Machines, Amthor, A. ; Werner, J. ; Lorenz, A. ; Zschäck, S. ; Ament, C., Journal of Systems and Control Engineering, vol. 224, no. 1

  • High Precision Position Control using an Adaptive Friction Compensation Approach, Amthor, A. ; Zschäck, S. ; Ament, C., IEEE Transactions on Automatic Control, vol. 55, no. 1, pp. 274-278

  • Distributed and Decentralised Estimation of Non-linear Systems, Hilgers P.; Ament, C., Proceedings of the 2010 IEEE International Conference on Control Applications
  • Integrated system development process for high-precision motion control systems, Zschäck, S. ; Amthor, A. ; Müller, M. ; Klöckner, J. ; Ament, C., IEEE Multi-Conference on Systems and Control, Proceedings, pp. 344-350
  • Fourth Order Motion Profile Planning for High Precision Applications, Amthor, A. ; Lorenz, A. ; Zschäck, S. ; Ament, C., IASTED International Conference Robotics, Proceedings, vol. 1, pp. 55-61
  • Control of a Multi Laser Tracker System Used as a Position Feedback Sensor, Nguyen, T.T. ; Nguyen, Q.T. ; Amthor, A. ; Ament, C., IASTED International Conference Modelling, Identification, and Control, Proceedings, vol. 1, pp. 132-137
  • Friction Compensation for Nanopositioning and Nanomeasuring Machines, Amthor, A. ; Zschäck, S. ; Ament, C., IEEE International Workshop on Advanced Motion Control, Proceedings, pp. 7-12
  • Verfahren zur echtzeit-fähigen Bahnplanung kontinuierlicher, rucksprungfreier Sollwerttrajektorien, Amthor, A. ; Zschäck, S. ; Ament, C. ; Werner, J. ; Lorenz, A.