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Gandhi, Mridul (author)The precision, speed, and stroke of mechatronic machines need continuous improvement. Compliant mechanisms are widely used in the precision machines, but they do not have larger strokes due to their limited deformation. In the present time, various applications also require high speed and more problems appear due to the dynamics of the compliant...master thesis 2020
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Musters, Lars (author)The manufacturer of an electron beam lithography machine pushes a better understanding and higher performance of the optical column to provide a better product with each iteration. At the heart of the column is the source of electrons: the gun lens. It holds the field emitter from which the electrons originate and accelerates the beam to a first...master thesis 2020
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Buitenhuis, R.N. (author)The ever-increasing industry desire for improved performance makes linear controller design run into its fundamental limitations. A nonlinear controller, such as Reset Control (RC), is needed to overcome these. RC is promising since, unlike other nonlinear methods, it easily integrates into the PID design framework preferred by industry. Thus...master thesis 2020
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Kieft, Bas (author)The most widely applied feedback controller is PID. This controller gains its popularity because of the ease of design through loop shaping, since PID can be analyzed in the frequency domain. However, PID is limited by linearity. Reset control is a nonlinear addition to PID control. Through linearization techniques it can be designed by...master thesis 2020
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van der Laan, Jorik (author)Bone drilling is a crucial part of orthopaedic surgery. Internal fixation is a ommon orthopaedic procedure that requires drilling to improve healing of bone fractures. Tight spaces around hard to reach bone fractures impede the surgeon during the procedure. As a result there is an increased risk of complications such as thermonecrosis, overshoot...master thesis 2020
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Domazetovska, Simona (author), Ivanoski, Kristijan (author), Josifovska, Stefani (author), Slavkovski, Viktor (author), Jovanova, J. (author)Inspired by the movement of a turtle in nature, a low-budget turtle-like robot was designed and developed to operate on natural terrain. Applying affordable additive manufacturing (3D printing) leads into creating unique 3-D structure with potential of flexibility, multi-functionality and multi-movement. By implementing solar panels, the...conference paper 2020
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Chen, Linda (author), Saikumar, N. (author), Hossein Nia Kani, S.H. (author)In this paper, a framework for the combination of robust fractional-order CRONE control with nonlinear reset is given for both first and second generation CRONE control. General design rules are derived and presented for these CRONE reset controllers. Within this framework, fractional-order control allows for better tuning of the open-loop...journal article 2019
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Saikumar, N. (author), Sinha, Rahul Kumar (author), Hassan HosseinNia, S. (author)This paper presents a novel 'Constant in gain Lead in phase' (CgLp) element using nonlinear reset technique. PID is the industrial workhorse even to this day in high-tech precision positioning applications. However, Bode's gain phase relationship and waterbed effect fundamentally limit performance of PID and other linear controllers. This...journal article 2019
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Brouwer, Daniël (author)Mechatronic embedded control systems are becoming increasingly sophisticated and computationally demanding. These systems typically consists of multiple controllers, which coordinate the actuators and apply feedback based on data collected by sensors. Often the underlying control strategy is entirely described in a software application, which...master thesis 2018
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Florijn, Floris Jan (author)Computer vision has been on the rise over the last decades. The applications of computer vision are mostly found within the domain of robotics and Unmanned Aerial Vehicle's. The use of computer visions in precision industry is new and offers both opportunities and challenges. In high performance precision systems the demands on sensors is set...master thesis 2018
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Jansen, Roy (author)In the electronics industry there is a trend towards the handling of larger and thinner sheets of silicon, for the production of wafers and solar cells. The flowerbed is a contact-less handler for these fragile substrates based on air bearing technology. By levitating the substrate on a film of pressurized air, mechanical contact is avoided and...master thesis 2018
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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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Fellinger, B.J. (author)The repeatability of precision positioning systems can be improved by reducing the effects of stick-slip in the system. Stick-slip effects introduce a spontaneous jerking motion when overcoming the static friction coefficient, creating accelerations that are hard to predict. Contactless bearing types, such as magnetic levitation or fluid...master thesis 2017
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Lei, Q. (author), Meijer, Jonathan (author), Wisse, M. (author)This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are...conference paper 2017
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van der Veen, G.J. (author), Langelaar, M. (author), van der Meulen, Stan (author), Laro, Dick (author), Aangenent, Wouter (author), van Keulen, A. (author)In pursuit of better accuracy, higher speed and larger scale, manufacturers of high-performance devices increasingly rely on components which have been designed with a multidisciplinary approach from the outset. In the context of motion systems, this means that for instance structural mechanics, control engineering and thermal analysis are...journal article 2017
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Najafi, E. (author)Sequential composition is an effective supervisory control method for addressing control problems in nonlinear dynamical systems. It executes a set of controllers sequentially to achieve a control specification that cannot be realized by a single controller. Sequential composition focuses on the interaction between a collection of pre-designed...doctoral thesis 2016
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Habib, S.H. (author)This thesis presents the design and implementation of a precision stage equipped with novel sensing and actuation concepts. The stage is considered among the first stages capable of providing a full rotation as well as planar translations with only one moving part and one sensor, namely a Position Sensitive Detector. This affordable sensor...master thesis 2015
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Bier, H.H. (author)Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically supported building processes, whereas...journal article 2014
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Saathof, R. (author)In highly precise systems the thermal expansion of system-parts is of increasing concern, since it can severely compromise its performance at sub-nanometre level. An example of such a system is an Extreme UltraViolet (EUV)-lithography machine that is used in the semi-conductor industry to project the pattern of the chip onto a silicon wafer. In...doctoral thesis 2013
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Valentin, C.L. (author)This thesis investigates the feasibility of a photomask curvature manipulator in immersion lithography systems.doctoral thesis 2013