Publications

Publications organized by topic. Check out my GoogleScholar for a chronological overview!

Robotics Publications

Journal Papers

  • Nonlinear Disturbance Observers for Robotic Continuum Manipulators
    C. Veil, D. Müller, O. Sawodny. Mechatronics, 78, 102518, 2021. DOI
  • One-Shot Kinesthetic Programming by Demonstration for Soft Collaborative Robots
    D. Müller, C. Veil, M. Seidel, O. Sawodny. Mechatronics, 70, 102418, 2020. DOI
  • Hybrid Force/Position Control for Quasi Continuum Manipulators
    D. Müller, C. Veil, O. Sawodny. at – Automatisierungstechnik, 2020. DOI

    Peer-Reviewed Conference Papers

  • Disturbance Observer Based Control for Quasi Continuum Manipulators
    D. Müller, C. Veil, O. Sawodny. 21st IFAC World Congress, Berlin, 2020.

Control Theory Publications

Journal Papers

  • Stabilization of Age-Structured Competing Populations
    C. Veil, M. Krstić, P. McNamee, O. Sawodny. Submitted to automatica, 2025.
  • Stabilization of Predator-Prey Age-Structured Hyperbolic PDE when Harvesting Both Species is Inevitable
    C. Veil, M. Krstić, I. Karafyllis, M. Diagne, O. Sawodny. arXiv:2410.06823, submitted to IEEE Transactions on Automatic Control, 2024. arXiv
  • Model-Based Feedforward Control of an Intra- and Interspecific Competitive Population System
    A.-C. Kurth, C. Veil, O. Sawodny. IEEE Control Systems Letters, 6, 3397–3402, 2022. DOI

    Peer-Reviewed Conference Papers

  • Stabilization of Age-Structured Competition (Predator-Predator) Population Dynamics
    C. Veil, P. McNamee, M. Krstić, O. Sawowdny. Submitted to IEEE Conference on Decision and Control (CDC), 2025.
  • Tracking Control for Competing Multi-Species Population Dynamics governed by Integro-PDEs
    C. Veil, B. Blagojevic, M. Hammami, O.Sawodny. Accepted to The 5th Modeling, Estimation and Control Conference (MECC), 2025.
  • Stabilization of Predator-Prey Age-Structured Hyperbolic PDE when Harvesting both Species is Inevitable
    C. Veil, M. Krstić, I. Karafyllis, M. Diagne, O. Sawodny. IEEE American Control Conference, 2025.
  • Steady-State Analysis of a Competitive Age-Structured Population System with Two Inputs
    C. Veil, E. Arnold, O. Sawodny. IEEE Conference on Systems, Man, and Cybernetics, 2024.

Biomedical Engineering Publications

Journals

  • Electrical Impedance-Based Tissue Classification for Bladder Tumor Differentiation
    C. Veil, F. Krauß, B. Amend, F. Fend, O. Sawodny. Scientific Reports, 2024. DOI
  • Cystoscopic Depth Estimation Using Gated Adversarial Domain Adaptation
    P. Somers, S. Holdenried-Krafft, J. Zahn, J. Schüle, C. Veil, N. Harland, S. Walz, A. Stenzl, O. Sawodny, C. Tarin, H. Lensch. Biomedical Engineering Letters, 2023. DOI
  • Enhancing Tissue Impedance Measurements Through Modeling of Fluid Flow During Viscoelastic Relaxation
    C. Veil, D. Müller, S. Walz, J. Schüle, P. Somers, C. Tarín, A. Stenzl, O. Sawodny. IEEE Transactions on Biomedical Engineering, 2022. DOI
  • Mathematical Modeling and Simulation of Thyroid Homeostasis: Implications for the Allan-Herndon-Dudley Syndrome
    T. M. Wolff, C. Veil, J. W. Dietrich, M. A. Müller. Frontiers in Endocrinology, 2022. DOI
  • Minimally Invasive Sensors for Transurethral Impedance Spectroscopy
    C. Veil, S. Petillon, J. Hotz, A. Knöller, A. Zimmermann, O. Sawodny. IEEE Sensors Journal, 2021. DOI

Peer-Reviewed Conference Papers

  • BlaVeS: A Novel Hand-Labeled Dataset for Improved Bladder Vessel Segmentation with Modified U-Net
    F. Krauß, N. Smati, M. Ege, Z. Lovasz, O. Sawodny, C. Veil. 47th Annual International Conference of the IEEE Engineering in Biology and Medicine Society, 2025.
  • Multiphysical Tumor Tissue Modeling for Improved Multimodal Sensor-Based Diagnostics
    M. Ege, F. Krauß, Z. Lovasz, V. Bahlinger, E. Hellwich, O. Sawodny, C. Tarín, C. Veil. 47th Annual International Conference of the IEEE Engineering in Biology and Medicine Society, 2025.
  • Tumor Margin Estimation through Simulated Impedivity Mappings Using a Multielectrode Sensor Array
    Z. Lovasz, F. Krauß, M. Ege, O. Sawodny, C. Veil. 47th Annual International Conference of the IEEE Engineering in Biology and Medicine Society, 2025.
  • Simultaneous Description and Detection of Sparse Features for Deformable Intraoperative Bladder Environments
    F. Krauß, M. Ege, Z. Lovasz, J. Schüle, A. Kielbik, C. Veil, O. Sawodny. IEEE Sensors, 2024.
  • Enhancing Bioimpedance Tissue Classification with Elastography Sensor Data via Multimodal Learning
    M. Ege, E. Hellwich, F. Krauß, Z. Lovasz, J. Schüle, A. Kielbik, C. Veil, O. Sawodny, C. Tarín. IEEE Sensors, 2024.
  • Numerical Analysis of Geometric Influences in Tetrapolar Electrical Impedance Spectroscopy Using Monte Carlo Simulations
    Z. Lovasz, Ö. Atmaca, C. Veil, A. Toulouse, A. Herkommer, O. Sawodny. 58th Annual Conference of the German Society for Biomedical Engineering (BMT), 2024.
  • Intraoperative Multi-Sensor Tissue Differentiation in (Uro-)Oncology – A Short Review
    C. Veil, O. Sawodny. 46th Annual International Conference of the IEEE Engineering in Biology and Medicine Society, 2024.
  • Feature Extraction and Selection from Impedance Measurements for Bladder Tumor Differentiation
    C. Veil, F. Krauß, S. Walz, J. Schüle, A. Stenzl, O. Sawodny. IEEE Conference on Systems, Man, and Cybernetics, 2023.
  • Compensating the Influence of Tremors on Impedance Measurements Through Fourier Analysis
    C. Veil, M. Gläsle, P. Somers, J. Schüle, C. Tarín, O. Sawodny. 45th Annual International Conference of the IEEE Engineering in Biology and Medicine Society, 2023.
  • In-plane Strain Analysis by Correlation Geometry and Visual Data Through a Gradient-Based Surface Reconstruction
    J. Schüle, V. Aslani, C. Stärk, P. Somers, C. Veil, C. Tarín, A. Herkommer, O. Sawodny. 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2023.
  • An Enhanced Synthetic Cystoscopic Environment for Use in Monocular Depth Estimation
    P. Somers, M. Deutschmann, S. Holdenried-Krafft, S. Tovey, J. Schüle, C. Veil, V. Aslani, O. Sawodny, H. Lensch, C. Tarín. 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2023.
  • Detection Limits of Tetrapolar Impedance Sensors for Tissue Differentiation
    C. Veil, O. Makni, P. Somers, J. Schüle, C. Tarín, O. Sawodny. 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2022.
  • Geometric Mapping Evaluation for Real-Time Local Sensor Simulation
    P. Somers, J. Schüle, C. Veil, O. Sawodny, C. Tarín. 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2022.
  • A Model-Based Simultaneous Localization and Mapping Approach for Deformable Bodies
    J. Schüle, J. Haag, P. Somers, C. Veil, C. Tarín, O. Sawodny. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2022.
  • Electro-Mechanical Coupling in Impedance-Based Tissue Differentiation Under Compression
    C. Veil, S. Schöne, N. Harland, J. Schüle, P. Somers, A. Stenzl, C. Tarín, O. Sawodny. 10th Vienna International Conference on Mathematical Modelling, 2022.
  • Growth of Simulated Tumors Under the Influence of Oxygen Supply
    P. Somers, J. Seibold, N. Lipke, N. Harland, B. Amend, A. Stenzl, J. Schüle, C. Veil, O. Sawodny, C. Tarín. 10th Vienna International Conference on Mathematical Modelling, 2022.
  • Geometry Factor Determination for Tetrapolar Impedance Sensor Probes
    C. Veil, R. Bach, P. Somers, O. Sawodny, C. Tarín. 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2021.
  • Multi-Physical Tissue Modelling of a Human Urinary Bladder
    J. Schüle, F. Krauß, C. Veil, S. Kunkel, P. Somers, C. Tarín, O. Sawodny. 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2021.

Misc

Sometimes I write papers that don’t have anything to do with my research :)

  • From the Ground Up: IEEE NextCom’s Inaugural Year of Impact and Growth
    N. Ozay, T. Roy, C. Veil, B. Butler, A. Bizyaeva, P. Paré. IEEE Control Systems Magazine, vol. 45, no. 3, pp. 15-18, June 2025. DOI

Invited Talks

  • Plenary speaker, “Female Leadership Development Panel”, 46th Annual International Conference of the IEEE Engineering in Biology and Medicine Society (EMBC), 2024.
  • Intraoperative Multi-Sensor Tissue Differentiation in Oncology
    Technical University Berlin, Institute of Chemical and Process Engineering, March 1, 2024.
  • Impedance-Based Tumor Differentiation in the Urinary Bladder
    IEEE EMBS Germany Chapter – EMBC 2023 Recap, September 4, 2023.

Conferences Attended

  • IEEE Engineering in Medicine and Biology Conference (EMBC): 2021, 2022, 2023, 2024, (2025)
  • IEEE Conference on Decision and Control (CDC): 2022, 2024, (2025)
  • IEEE American Control Conference (ACC): (2025)
  • IFAC Vienna International Conference on Mathematical Modelling (MATHMOD): 2022
  • IEEE Conference on Systems, Man, and Cybernetics (SMC): 2023, 2024