Georg Nawratil

Assistant

Education

• Mag. rer. nat. (comparable to Master of Natural Science) in Geometry and Mathematics, TU Wien, 05/2004
• Dr. techn. (comparable to Doctor of Technical Sciences) in Geometry, TU Wien, 03/2007, Advisor: H. Stachel

Professional Experience

• Tutor, Institute of Geometry, TU Wien, 10/2000 - 02/2001
• Research Assistant (FWF Project Industrial Geometry), Geometric Modeling and Industrial Geometry, Institute of Discrete Mathematics and Geometry, TU Wien, 07/2006 - 10/2007, 09/2008 - 02/2009
• Assistant, Differential Geometry and Geometric Structures, Institute of Discrete Mathematics and Geometry, TU Wien, 11/2006 -
• Research Assistant (FWF Project Flexible polyhedra and frameworks in defferent spaces), Differential Geometry and Geometric Structures, Institute of Discrete Mathematics and Geometry, TU Wien, 2/2010 -

Research Interests

• Geometry of Mechanisms
• Kinematics and robotics

Scientific Talks

1. Geometrie Tagung des Instituts für Geometrie der TU Graz, Vorau June 6-11 2004, Austria, Title: Zur Geometrie der Stewart Gough Plattformen.
2. 1st European Conference on Mechanism Science (EuCoMeS), Obergurgl February 21-26 2006, Austria, paper presentation.
3. 10th International Symposium on Advances in Robot Kinematics (ARK'06), Ljubljana June 25-29 2006, Slovenia, paper presentation.
4. 3rd FSP Seminar, Obergurgl September 4-5 2006, Austria, Title: Distance computations in kinematics.
5. 33. Süddeutsches Differentialgeometrie-Kolloquium, Vienna May 23-24 2008, Austria, paper presentation.
6. 11th International Symposium on Advances in Robot Kinematics (ARK'08), Batz-sur-Mer June 22-26 2008, France, paper presentation. [Slides]
7. 5th International Workshop on Computational Kinematics (CK2009), Duisburg May 6-8 2009, Germany, paper presentation. [Slides]
8. Conference on Geometry: Theory and Applications, Pilsen/Plzen June 29 - July 2 2009, Czech Republic, Title: On the spin surface of RSSR mechanisms with parallel rotary axes. [Slides]

Scientific Publications

1. G. Nawratil: New Performance Indices for 6R Robot Postures. Proc. of the 1st EuCoMeS (M. Husty, H.P. Schröcker eds.), 12pp., Obergurgl February 21-26 2006, Austria, ISBN 3-901249-85-0.
2. G. Nawratil: The Control Number as Index for Stewart Gough Platforms. Advances in Robot Kinematics - Mechanisms and Motion (J. Lenarcic, B. Roth eds.), pages 15-22, Springer, 2006, ISBN 1-4020-4940-4.
3. G. Nawratil: New Performance Indices for 6R Robots. Mechanism and Machine Theory 42 (11) 1499-1511 (2007).
4. G. Nawratil, H. Pottmann, and B. Ravani: Generalized Penetration Depth Computation based on Kinematical Geometry. Journal of Computer Aided Geometric Design 26 (4) 425-443 (2009).
5. G. Nawratil and H. Pottmann: Subdivision Schemes for the fair Discretization of the Spherical Motion Group. Journal of Computational and Applied Mathematics 222 (2) 574-591 (2008).
6. G. Nawratil: New Performance Indices for 6-dof UPS and 3-dof RPR Parallel Manipulators. Mechanism and Machine Theory 44 (1) 208-221 (2009).
7. G. Nawratil: Results on Planar Parallel Manipulators with Cylindrical Singularity Surface. Advances in Robot Kinematics - Analysis and Design (J. Lenarcic, P. Wenger eds.), pages 321-330, Springer, 2008, ISBN 978-1-4020-8599-4.
8. G. Nawratil: Main Theorem on Planar Parallel Manipulators with Cylindrical Singularity Surface. In Proc. of 33. Süddeutsches Differentialgeometrie-Kolloquium (H. Havlicek, F. Manhart, B. Odehnal eds.), pages 35-57, TU Vienna, 2008, ISBN 978-3-902233-04-2.
9. G. Nawratil: On the degenerated cases of architecturally singular planar parallel manipulators. Journal of Geometry and Graphics 12 (2) 141-149 (2008).
10. G. Nawratil: All Planar Parallel Manipulators with Cylindrical Singularity Surface. Mechanism and Machine Theory 44 (12) 2179-2186 (2009). [Technical Report No. 191]
11. G. Nawratil: On the spin surface of RSSR mechanisms with parallel rotary axes. ASME Journal of Mechanisms and Robotics 2 (1) 011009 (2010).
12. G. Nawratil: A new approach to the classification of architecturally singular parallel manipulators. Computational Kinematics (A. Kecskemethy, A. Müller eds.), pages 349-358, Springer, 2009, ISBN 978-3-642-01946-3.
13. G. Nawratil: A remarkable set of Schönflies-singular planar Stewart Gough platforms. Technical Report No. 198, Geometry Preprint Series, Vienna University of Technology (2009).
14. G. Nawratil: Main Theorem on Schönflies-singular planar Stewart Gough platforms. Technical Report No. 199, Geometry Preprint Series, Vienna University of Technology (2009).
15. G. Nawratil: Special cases of Schönflies-singular planar Stewart Gough platforms. Technical Report No. 202, Geometry Preprint Series, Vienna University of Technology (2009).
16. G. Nawratil: Stewart Gough platforms with non-cubic singularity surface. Technical Report No. 204, Geometry Preprint Series, Vienna University of Technology (2010).
17. G. Nawratil: Stewart Gough platforms with linear singularity surface. Technical Report No. 205, Geometry Preprint Series, Vienna University of Technology (2010).

Theses

1. G. Nawratil: Zur Geometrie von Stewart Gough Plattformen. Master thesis. Institut für Diskrete Mathematik und Geometrie, TU Wien, Supervisor: H. Stachel, 2004.
2. G. Nawratil: Neue kinematische Performance Indizes für 6R Roboter und Stewart Gough Plattformen. Doctoral thesis. Institut für Diskrete Mathematik und Geometrie, TU Wien, Reviewer: H. Stachel, M. Husty, 2007. [Slides]

Teaching Activities / Lehrveranstaltungen

• WS 2006/07
  • Geometrisches Modellieren und Visualisieren 1a (UE)
  • Projektive Geometrie 1 (UE)
  • Grundkurs Architektur und Darstellung - DG (VU)
• SS 2007
  • Geometrisches Modellieren und Visualisieren 1b (UE)
  • Projektive Geometrie 2 (UE)
  • Visualisierung (VU)
• WS 2007/08
  • Geometrisches Modellieren und Visualisieren 2a (UE)
  • Projektive Geometrie 3 (UE)
  • Kinematik für LA (UE)
  • Lineare Algebra und Analytische Geometrie 1 (UE)
• SS 2008
  • Geometrisches Modellieren und Visualisieren 2b (UE)
  • Analytische Geometrie der Kurven und Flächen (UE)
  • Höhere Kinematik (UE)
  • Lineare Algebra und Analytische Geometrie 2 (UE)
• WS 2008/09
  • Geometrisches Modellieren und Visualisieren 1a (UE)
  • Projektive Geometrie 1 (UE)
  • Geometrische Kinematik für MB (UE)
  • Lineare Algebra und Analytische Geometrie 1 (UE)
  • Grundkurs Architektur und Darstellung - DG (VU)
• SS 2009
  • Geometrisches Modellieren und Visualisieren 1b (UE)
    
  • Projektive Geometrie 2 (UE)
  • Lineare Algebra und Analytische Geometrie 2 (UE)
• WS 2009/10
  • Geometrisches Modellieren und Visualisieren 2a (UE)
  • Projektive Geometrie 3 (UE)
  • Kinematik für LA (UE)
• SS 2010
  • Geometrisches Modellieren und Visualisieren 2b (UE)
  • Analytische Geometrie der Kurven und Flächen (UE)
  • Höhere Kinematik (UE)