Acknowledgements

The authors thank P. J. F. M. Dierichs for his contributions to the hardware design and software implementation of the platform.

The authors thank M. Klein for providing and implementing the controllers described in the Sample Experimental Results.

The authors also thank V. Kiefer, L. Behringer, S. Fols, M. Ulrich, and T. Völzing for their project works and student-assistant contributions to the platform, and J. Rudolph and A. Irscheid for fruitful discussions on the integration of the platform into the teaching curriculum.