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Xie, S. (author), Garofano, V. (author), Chu, Xiumin (author), Negenborn, R.R. (author)Real-time collision avoidance with full consideration of ship maneuverability, collision risks and International Regulations for Preventing Collisions at Sea (COLREGs) is difficult in multi-ship encounters. To deal with this problem, a novel method is proposed based on model predictive control (MPC), an improved Q-learning beetle swarm...journal article 2019
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Liu, Chenguang (author), Zheng, Huarong (author), Negenborn, R.R. (author), Chu, Xiumin (author), Xie, Shuo (author)Since vessel dynamics could vary during maneuvering because of load changes, speed changing, environmental disturbances, aging of mechanism, etc., the performance of model-based path following control may be degraded if the controller uses the same motion model all the time. This article proposes an adaptive path following control method...journal article 2019
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Huang, Y. (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. P. (author)High precision motion control of hydraulic manipulators is challenging due to the highly nonlinear dynamics and model uncertainties typical for hydraulic actuators. This paper addresses the implementation of a novel sensor-based incremental nonlinear dynamic inversion control technique for a high-precision hydraulic force controller in existence...journal article 2019
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Liu, X. (author), Wang, X. (author), Bavykina, A.V. (author), Chu, L. (author), Shan, M. (author), Sabetghadam, Anahid (author), Miro, H. (author), Kapteijn, F. (author), Gascon, Jorge (author)The preparation and the performance of mixed matrix membranes based on metal-organic polyhedra (MOPs) are reported. MOP fillers can be dispersed as discrete molecular units (average 9 nm in diameter) when low filler cargos are used. In spite of the low doping amount (1.6 wt %), a large performance enhancement in permeability, aging resistance...journal article 2018
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Wang, G. (author), Zhao, Junfei (author), Haringa, C. (author), Tang, W. (author), Xia, Jianye (author), Chu, Ju (author), Zhuang, Yingping (author), Zhang, Siliang (author), Deshmukh, A.T. (author), van Gulik, W.M. (author), Heijnen, J.J. (author), Noorman, H.J. (author)In a 54 m<sup>3</sup> large-scale penicillin fermentor, the cells experience substrate gradient cycles at the timescales of global mixing time about 20–40 s. Here, we used an intermittent feeding regime (IFR) and a two-compartment reactor (TCR) to mimic these substrate gradients at laboratory-scale continuous cultures. The IFR was applied to...journal article 2018
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Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)Self-learning approaches, such as reinforcement learning, offer new possibilities for autonomous control of uncertain or time-varying systems. However, exploring an unknown environment under limited prediction capabilities is a challenge for a learning agent. If the environment is dangerous, free exploration can result in physical damage or in...journal article 2018
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Smeur, E.J.J. (author), de Croon, G.C.H.E. (author), Chu, Q. P. (author)This paper presents the cascaded integration of Incremental Nonlinear Dynamic Inversion (INDI) for attitude control and INDI for position control of micro air vehicles. Significant improvements over a traditional Proportional Integral Derivative (PID) controller are demonstrated in an experiment where the quadrotor flies in and out of a 10 m...journal article 2018
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Chu, L. (author)Atomic Force Microscopy (AFM) can not only image the topography of surfaces at atomic resolution, but can also measure accurately the different interaction forces, like repulsive, adhesive and lateral existing between an AFM tip and the sample surface. Based on AFM, various extended techniques have been developed such as colloidal probe AFM,...doctoral thesis 2018
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Goedhart, Menno (author), van Kampen, E. (author), Armanini, S.F. (author), de Visser, C.C. (author), Chu, Q. P. (author)Flight control of Flapping Wing Micro Air Vehicles is challenging, because of their complex dynamics and variability due to manufacturing inconsistencies. Machine Learning algorithms can be used to tackle these challenges. A Policy Gradient algorithm is used to tune the gains of a Proportional-Integral controller using Reinforcement Learning. A...conference paper 2018
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Ferrier, Yvonne L. (author), Nguyen, Nhan T. (author), Ting, Eric (author), Chaparro, Daniel (author), Wang, Xuerui (author), de Visser, C.C. (author), Chu, Q. P. (author)This paper presents a novel active gust load alleviation approach within a multi-objective flight control framework developed by NASA for a flexible wing aircraft. The aircraft model is based on the NASA Generic Transport Model (GTM). The wing structures incorporate an aerodynamic control surface known as the Variable Camber Continuous...conference paper 2018
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Zhang, Y. (author), de Visser, C.C. (author), Chu, Q. P. (author)This paper reports the latest progress in the development of a database-driven safe flight envelope prediction system. By building up a database containing safe flight envelopes of different damage and fault scenarios, the challenges associated with online flight envelope prediction can be circumvented. The database is designed for different...conference paper 2018
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author), De Breuker, R. (author)In this paper, an Incremental Nonlinear Dynamic Inversion (INDI) controller is<br/>developed for the flexible aircraft gust load alleviation (GLA) problem. First, a flexible aircraft model captures both inertia and aerodynamic coupling effects between flight dynamics and structural vibration dynamics is presented. Then an INDI GLA controller is...conference paper 2018
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author), Lu, P (author)As a sensor-based control approach, the Incremental Nonlinear Dynamic Inversion (INDI) method has been successfully applied on various aerospace systems and shown desirable robust performance to aerodynamic model uncertainties. However, its previous derivations based on the so-called time scale separation principle is not mathematically rigorous...conference paper 2018
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van 't Veld, Ronald (author), van Kampen, E. (author), Chu, Q. P. (author)Incremental nonlinear dynamic inversion (INDI) is a variation on nonlinear dynamic inversion (NDI), retaining the high-performance characteristics, while reducing model dependency and increasing robustness. After a successful flight test with a multirotor micro aerial vehicle, the question arises whether this technique can be used to...conference paper 2018
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Çakiroğlu, Can (author), van Kampen, E. (author), Chu, Q. P. (author)Incremental Nonlinear Dynamic Inversion (INDI) is a robust nonlinear control technique that is an adaptation of nonlinear dynamic inversion (NDI). By assuming time scale separation between fast and slow dynamics, and by using angular acceleration feedback, the inner loop of INDI directly controls angular accelerations with incremental control...conference paper 2018
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Grondman, Fabian (author), Looye, Gertjan H.N. (author), Kuchar, Richard O. (author), Chu, Q. P. (author), van Kampen, E. (author)This paper describes the design, implementation and flight testing of flight control laws based on Incremental Nonlinear Dynamic Inversion (INDI). The method compares com- manded and measured accelerations to compute increments on the current control de ec- tions. This results in highly robust control solutions with respect to model...conference paper 2018
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Haringa, C. (author), Tang, W. (author), Wang, G. (author), Deshmukh, A.T. (author), van Winden, Wouter A. (author), Chu, Ju (author), van Gulik, W.M. (author), Heijnen, J.J. (author), Mudde, R.F. (author), Noorman, H.J. (author)We assess the effect of substrate heterogeneity on the metabolic response of P. chrysogenum in industrial bioreactors via the coupling of a 9-pool metabolic model with Euler-Lagrange CFD simulations. In this work, we outline how this coupled hydrodynamic-metabolic modeling can be utilized in 5 steps. (1) A model response study with a fixed...journal article 2018
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Nabi, H.N. (author), Lombaerts, T.J.J. (author), Zhang, Y. (author), van Kampen, E. (author), Chu, Q. P. (author), de Visser, C.C. (author)The research presented in this paper focuses on the effects of structural failures on the safe flight envelope of an aircraft, which is the set of all the states in which safe maneuver of the aircraft can be assured. Nonlinear reachability analysis basedonan optimal control formulation is performed to estimate the safe flight envelope using...journal article 2018
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Sun, Chuan (author), Wu, Chaozhong (author), Chu, Duanfeng (author), Lu, Z. (author), Tan, Jian (author), Wang, Jianyu (author)This paper aims to recognize driving risks in individual vehicles online based on a data-driven methodology. Existing advanced driver assistance systems (ADAS) have difficulties in effectively processing multi-source heterogeneous driving data. Furthermore, parameters adopted for evaluating the driving risk are limited in these systems. The...journal article 2018
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Lu, Hongzhong (author), Cao, Weiqiang (author), Liu, X. (author), Sui, Yufei (author), Ouyang, Liming (author), Xia, Jianye (author), Huang, Mingzhi (author), Zhuang, Yingping (author), Zhang, Siliang (author), Noorman, H.J. (author), Chu, Ju (author)Oxygen limitation is regarded as a useful strategy to improve enzyme production by mycelial fungus like Aspergillus niger. However, the intracellular metabolic response of A. niger to oxygen limitation is still obscure. To address this, the metabolism of A. niger was studied using multi-omics integrated analysis based on the latest GEMs ...journal article 2018