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Noom, J. (author)The complexity of automated systems has grown considerably during the past decades. This convolutes the observation of possible faults in these systems. If not being revealed timely, such faults can lead to catastrophic failures. As a result, there is a continuous interest in sophisticated fault diagnosis techniques. Since it is generally...doctoral thesis 2024
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González, Rodrigo A. (author), Tiels, Koen (author), Oomen, T.A.E. (author)Sampling in control applications is increasingly done non-equidistantly in time. This includes applications in motion control, networked control, resource-aware control, and event-based control. Some of these applications, like the ones where displacement is tracked using incremental encoders, are driven by signals that are only measured when...journal article 2024
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Moradvandi, A. (author), Abraham, E. (author), Goudjil, Abdelhak (author), De Schutter, B.H.K. (author), Lindeboom, R.E.F. (author)This paper focuses on the development of linear Switched Box–Jenkins (SBJ) models for approximating complex dynamical models of biological wastewater treatment processes. We discuss the adaptation of these processes to the SBJ framework, showing the model's generality and flexibility as a class of switched systems that can offer accurate...journal article 2024
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Noom, J. (author), Soloviev, O.A. (author), Verhaegen, M.H.G. (author)We present a novel problem formulation for model-free data-driven fault diagnosis, in which possible faults are diagnosed simultaneously to identifying the linear time-invariant system. This problem is practically relevant for systems whose model cannot be identified reliably prior to diagnosing possible faults, for instance when operating...journal article 2024
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Lathourakis, C.L. (author), Cicirello, A. (author)A method is introduced for the identification of the nonlinear governing equations of dynamical systems in the presence of discontinuous and nonsmooth nonlinear forces, such as the ones generated by frictional contacts, based on noisy measurements. The so-called Physics Encoded Sparse Identification of Nonlinear Dynamics (PhI-SINDy) builds...journal article 2024
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Ramesh, Nirupama Sai (author)Model-based fault diagnosis methodologies rely on an accurate mathematical representation of a system's dynamics to effectively detect and localize faults. However, creating such models can be challenging, particularly for complex systems operating under diverse conditions. Furthermore, faults affecting the system can also modify its dynamics....master thesis 2023
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Lende, Knut Roar (author)Linear Parameter-Varying (LPV) systems can be used as a bridge to extend the well studied model based control methods of Linear Time-Invariant systems to certain nonlinear systems. Despite significant attention in literature over the last two decades, finding an efficient global state space identification algorithm remains an open problem....master thesis 2023
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de Fuijk, Dirk (author)Adequate modeling of the unsteady aerodynamics during flow separation is critical for effective pilot training in Flight Simulation Training Devices. Over the years, a stall modeling method rooted in Kirchhoff's theory of flow separation has gained popularity due to its relative simplicity and suitability for parameter identification from flight...master thesis 2023
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Anil Meera, A. (author)The potential impact of a grand unified theory of the brain on the robotics community might be immense, as it might hold the key to the general artificial intelligence. Such a theory might make revolutionary leaps in robot intelligence by improving the quality of our lives. The last two decades have witnessed the rise of one such brain theory -...doctoral thesis 2023
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Saify, Burhanuddin (author)As quadrotors continue to become more popular for personal and commercial use, improving their safety is essential, especially in impaired operating states. With (asymmetric) blade damage (ABD) being a potentially dangerous type of impairment, it is beneficial to understand how it affects the dynamic behavior of a quadrotor. This research...master thesis 2023
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González, Rodrigo A. (author), Tiels, Koen (author), Oomen, T.A.E. (author)Control applications are increasingly sampled non-equidistantly in time, including in motion control, networked control, resource-aware control, and event-triggered control. Some of these applications use measurement devices that sample equidistantly in the amplitude domain. The aim of this paper is to develop a non-parametric estimator of...journal article 2023
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Khosravi, M. (author), Smith, Roy S. (author)The notion of reproducing kernel Hilbert space (RKHS) has emerged in system identification during the past decade. In the resulting framework, the impulse response estimation problem is formulated as a regularized optimization defined on an infinite-dimensional RKHS consisting of stable impulse responses. The consequent estimation problem is...journal article 2023
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Shi, S. (author), Cheng, Xiaodong (author), De Schutter, B.H.K. (author), Van den Hof, Paul M.J. (author)In a dynamic network of interconnected transfer functions, it is not necessary to use all the node signals for estimating a local transfer function. Given the network topology, detailed conditions are available for selecting inputs and outputs in a (MIMO) predictor model that warrants consistent and minimum variance estimation of a target...journal article 2023
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van’t Veld, Ronald C. (author), Flux, Eline (author), van Oorschot, Wieneke (author), Schouten, A.C. (author), van der Krogt, Marjolein M. (author), van der Kooij, H. (author), Vos-van der Hulst, Marije (author), Keijsers, Noël L.W. (author), van Asseldonk, Edwin H.F. (author)Background: Spasticity, i.e. stretch hyperreflexia, increases joint resistance similar to symptoms like hypertonia and contractures. Botulinum neurotoxin-A (BoNT-A) injections are a widely used intervention to reduce spasticity. BoNT-A effects on spasticity are poorly understood, because clinical measures, e.g. modified Ashworth scale (MAS),...journal article 2023
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Khosravi, M. (author), Smith, Roy S. (author)This paper discusses the problem of system identification when frequency domain side-information is available. We mainly consider the case where the side-information is provided as the H<sub>∞</sub>-norm of the system being bounded by a given scalar. This framework allows considering different forms of frequency domain side-information, such...journal article 2023
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Shi, S. (author), Cheng, Xiaodong (author), Van den Hof, Paul M.J. (author)Identifiability of a single module in a network of transfer functions is determined by whether a particular transfer function in the network can be uniquely distinguished within a network model set, on the basis of data. Whereas previous research has focused on the situations that all network signals are either excited or measured, we develop...journal article 2023
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Koene, Robbert (author), Meijaard, J.P. (author), van de Ruit, M.L. (author), Mugge, W. (author), van der Wijk, V. (author)Humans vary the stiffness in their joints depending on tasks and circumstances. For posture control a high joint stiffness is required to withstand perturbations, whereas for force control a low joint stiffness is required. To investigate how humans vary their joint stiffness precisely for moving an arm, a wearable device is needed that can...conference paper 2023
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Koster, Max (author)In order to gain more insight into the effects of propeller ducts on quadrotors in forward flight, this research analyses flight data obtained from free flight tests, performed in the Cyberzoo and the Open Jet Facility of the TU Delft. Using a quadrotor platform with detachable propeller ducts, both trimmed forward flight tests and flights...master thesis 2022
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FANG, SONGLEI (author)A complex network consists of the underlying topology, defined by a graph and the dynamical processes taking place on a network, defined by a set of governing equations. In this thesis, we deploy the discrete-time linear state-space (DLSS) model to identify the dynamical processes taking place on a complex network. Unlike the black-box...master thesis 2022
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Koene, Robbert (author)The compliance (stiffness) of a human arm varies, depending on the task at hand. Some precise tasks require high stiffness, while others need a level of flexibility to deal with unknown disturbances. To describe this human behaviour a portable device is needed to give small force perturbations (input) while the resulting reaction of the arm ...master thesis 2022