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- Abkowitz, Martin A. (author) book 1969
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Simons, D.G. (author), Bergers, M.M.C. (author), Henrion, S. (author), Hulzenga, J.I.J. (author), Jutte, R.W. (author), Pas, W.M.G. (author), Van Schravendijk, M. (author), Vercruyssen, T.G.A. (author), Wilken, A.P. (author)An autonomous underwater vehicle with a biomechanical propulsion system is a possible answer to the demand for small, silent sensor platforms in many fields. The design of Galatea, a bio-mimetic AUV, involves four aspects: hydrodynamic shape, the propulsion, the motion control systems and payload. The shape of the hull is based on a modified...conference paper 2009
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Bentvelsen, W. (author), Gorsse, G.J. (author), Bouman, N. (author), Bashandy, V.A. (author), Garofano, V. (author), Jovanova, J. (author)Floating structures have raised interest in the recent years for different applications, from living and farming at sea to renewable energy production. To support the logistics on the float- ing structures, floating cranes are necessary and their designs are constantly improved. In- creasing developments in the automation industry paved the way...conference paper 2020
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Kapitanyuk, Yuri A. (author), Garcia de Marina, Hector (author), Proskurnikov, A.V. (author), Cao, Ming (author)This paper presents a guidance algorithm solving the problem of moving path following, that is, steering a mobile robot to a curvilinear path attached to a moving frame. The nonholonomic robot is described by the unicycle-type model under the influence of some constant exogenous disturbance. The desired path may be an arbitrary smooth curve...conference paper 2017
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Huang, Y. (author), Pool, D.M. (author), Stroosma, O. (author), Chu, Q. P. (author)Hydraulic driven manipulators face serious control problems due to the nonlinear system dynamics and model and parametric uncertainties of hydraulic actuators. In this paper, a novel sensor-based Incremental Nonlinear Dynamic Inversion controller is applied to force tracking control of hydraulic actuators of a hexapod flight simulator motion...conference paper 2017
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Sebastian, Aldo (author), Karbasizadeh, Nima (author), Saikumar, N. (author), Hassan HosseinNia, S. (author)Linear control such as PID possesses fundamental limitations, seen through the Waterbed effect. Reset control has been found to be able to overcome these limitations, while still maintaining the simplicity and ease of use of PID control due to its compatibility with the loop shaping method. However, the resetting action also gives rise to...conference paper 2021
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Chao, Q. (author), Yu, J (author), Dai, C. (author), Xu, T (author), Zhang, L. (author), Wang, C.C. (author), Jin, X. (author)We present a general solution for steering microrobotic<br/>swarm by dynamic actuating fields. In our approach, the<br/>motion of micro-robots is controlled by changing the actuating<br/>direction of a field applied to them. The time-series sequence<br/>of actuating field’s directions can be computed automatically.<br/>Given a target position in...conference paper 2016
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van Haren, Max (author), Poot, Maurice (author), Portegies, Jim (author), Oomen, T.A.E. (author)Mechatronic systems have increasingly high performance requirements for motion control. The low-frequency contribution of the flexible dynamics, i.e., the compliance, should be compensated for by means of snap feedforward to achieve high accuracy. Position-dependent compliance, which often occurs in motion systems, requires the snap feedforward...conference paper 2022
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Vermeer, Job (author), Alaka, Shaad (author), de Bruin, Niels (author), Miedema, Nico Arjen (author), Winnubst, Nick (author), Trap, Cyril (author), Bidarra, Rafael (author)League of Lasers is a motion-based game where two teams compete in a mix between football and Pong [2]. Players use `virtual mirrors' to try to guide a laser pulse towards the opponent team's target. The game aims at stimulating interaction between players by making cooperation a vital part of the gameplay, while having them physically move...conference paper 2018
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Bentvelsen, Wouter (author), Gorsse, Guus Jonathan (author), Bouman, Niels (author), Bashandy, Vincent (author), Garofano, V. (author), Jovanova, J. (author)Floating structures have raised interest in the recent years for different applications, from living and farming at sea to renewable energy production. To support the logistics on the floating structures, floating cranes are necessary and their designs are constantly improved. Increasing developments in the automation industry paved the way...conference paper 2022
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Van Deyzen, A.F.J. (author)The demand to sail at high forward speeds in both calm water and in a seaway remains high. For various patrol, search and rescue or military operations attaining high forward speeds is essential. In head and bow quartering seas, the main factor for voluntary speed reduction is the occurrence of large vertical peak accelerations. The occurrence...doctoral thesis 2014
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Huang, Y. (author)In advanced robotic applications such as robotic locomotion, vehicle and flight simulators, and material test devices, there are higher requirements on stiffness, robustness and power ability for the mechanical structure and the actuator. Hence, it is common for such applications to use parallel manipulators and hydraulic actuators, due to their...doctoral thesis 2019
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Peters, O.A.J. (author)Dry transporting large heavy floating structures has been an important development in the innovative history of Heavy Marine Transport. This is done by carrying these type of cargoes on the deck of Heavy Transport Vessels. Loading and discharge is preformed by submerging the transport vessel, and positioning the cargo above the deck using tugger...doctoral thesis 2019
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Karbasizadeh, Nima (author)This dissertation addresses the demand for faster, more precise, and robust controllers in the precision motion industry. Traditional linear controllers have limitations due to the waterbed effect and Bode’s phase-gain relationship. To overcome these limitations, complex-order controllers are explored in this study. The dissertation focuses on...doctoral thesis 2023
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Delissen, A.A.T.M. (author)High-precision motion systems are crucial for many applications, such as in semiconductor equipment, microscopy, robotics, and medical devices. Next to high operating speeds, high accuracy and precision are required, which makes the design of these systems a challenging task. Dynamics, feedback control, and their interaction all play an...doctoral thesis 2022
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Mugge, W. (author), Abbink, D.A. (author), Schouten, A.C. (author), Dewald, J.P.A. (author), Van der Helm, F.C.T. (author)This study aims to quantify the separate contributions of muscle force feedback, muscle spindle activity and co-contraction to the performance of voluntary tasks (‘‘reduce the influence of perturbations on maintained force or position’’). Most human motion control studies either isolate only one contributor, or assume that relevant reflexive...journal article 2009
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Rotariu, I. (author), Steinbuch, M. (author), Ellenbroek, R. (author)Iterative learning control (ILC) is a very effective technique to reduce systematic errors that occur in systems that repetitively perform the same motion or operation. However, several characteristics have prevented standard ILC from being widely used for high precision motion systems. Most importantly, the learned feedforward signal depends on...journal article 2008
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Khan, S. (author), Sabanovic, A. (author), Nergiz, A.O. (author)In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve...journal article 2009
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Bjelonic, Filip (author), Sachtler, Arne (author), Albu-Schaffer, Alin (author), Della Santina, C. (author)Adding elastic elements to the mechanical structure should enable robots to perform efficient oscillatory tasks. Still, even characterizing natural oscillations in nonlinear systems is a challenge in itself, which nonlinear modal theory promises to solve. Therein eigenmanifolds generalize eigenspaces to mechanical systems with non-Euclidean...journal article 2022
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Wu, D. (author), Ha, Xuan Thao (author), Zhang, Yao (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Niu, Kenan (author), Trauzettel, F. (author), Dankelman, J. (author), Menciassi, Arianna (author), Poorten, Emmanuel Vander (author)In cardiovascular interventions, when steering catheters and especially robotic catheters, great care should be paid to prevent applying too large forces on the vessel walls as this could dislodge calcifications, induce scars or even cause perforation. To address this challenge, this paper presents a novel compliant motion control algorithm...journal article 2022