Chi‐Yi Tsai, Kai‐Tai Song, Xavier Dutoit, Hendrik Van Brussel, Marnix Nuttin,
This paper presents a novel design of a robust visual tracking control system, which consists of a visual tracking controller and a visual state estimator. This system facilitates human–robot interaction of a unicycle-modeled mobile robot equipped with a tilt camera. Based on a novel dual-Jacobian visual interaction model, a robust visual tracking controller is proposed to track a dynamic moving target. The proposed controller not only possesses some degree of robustness against the system model ...
Tópico(s): Robotics and Sensor-Based Localization
2009 - Elsevier BV | Robotics and Autonomous Systems
Maíra Martins da Silva, Olivier Brüls, Wim Desmet, Hendrik Van Brussel,
This paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the structural and control parameters, an optimal choice has to be made with respect to design specifications in the different domains. Two main challenges are treated in this paper: the non-convex nature of the optimization problem and the difficulty in modeling serial machines with flexible components and their embedded controllers. The optimization ...
Tópico(s): Dynamics and Control of Mechanical Systems
2009 - Elsevier BV | Mechatronics
Maíra Martins da Silva, Olivier Brüls, Jan Swevers, Wim Desmet, Hendrik Van Brussel,
This paper discusses the integrated design of mechatronic systems with varying dynamics, such as serial and parallel machine tools. This characteristic affects the machine stability and performance. A computer-aided integrated design methodology is proposed and validated on a pick-and-place robot. It consists of two main steps: (i) the derivation of reduced models from a flexible multibody model and (ii) the systematic robust control design. Eventually, the integrated design of the system, considering ...
Tópico(s): Iterative Learning Control Systems
2009 - Elsevier BV | Mechanism and Machine Theory
Paul Valckenaers, Bart Saint Germain, Paul Verstraete, Jan Van Belle, Hadeli, Hendrik Van Brussel,
The notion of an intelligent product places suitability for integration firmly on the research agenda. Indeed, this paradigm aims for coordination and integration on a scale that is unseen until today. Note that this applies particularly where it concerns the core businesses of companies. For that reason, this paper presents a novel concept, the intelligent being, as a vehicle to achieve suitability for integration. The concept is applied to intelligent product instances, intelligent product types ...
Tópico(s): Cognitive Computing and Networks
2009 - Elsevier BV | Computers in Industry
Fuyi Xu, Hendrik Van Brussel, Marnix Nuttin, Ronny Moreas,
An effective approach to dynamic obstacle avoidance for mobile robots is described in this paper. The main concepts in this approach include local Polar Object Chart (POC) for defining possible ways out, obstacle definition, detour mode, anchor for preventing getting lost, steering delimiting and velocity delimiting. The presented concepts and methods were tested and verified both by simulations and experiments on a developed prototype industrial Automated Guided Vehicle (AGV). This paper also presents ...
Tópico(s): Control and Dynamics of Mobile Robots
2002 - Elsevier BV | Robotics and Autonomous Systems
Jian Wang, Hendrik Van Brussel, Jan Swevers,
The closed-loop transfer function of a plant controlled with a classical feedback controller, depends on the dynamics of the plant. Since most feedforward tracking controllers are designed based on this closed-loop transfer function, they are not robust against plant model uncertainties. Sliding-mode controllers have the property that when the system is on the switching line, the closed-loop behavior is independent of the plant dynamics. As a result, it can be expected that a feedforward control ...
Tópico(s): Extremum Seeking Control Systems
2003 - ASM International | Journal of Dynamic Systems Measurement and Control
Hadeli, Paul Valckenaers, Martin J. Kollingbaum, Hendrik Van Brussel,
This paper describes and discusses a novel design and a prototype implementation for manufacturing control systems, aimed at handling changes and disturbances. This novel design utilizes the concept of a multi-agent system. Agents in this system use an indirect coordination mechanism, called stigmergy. Stigmergy is a class of mechanisms that mediate animal-animal interactions. It consists of indirect communication that is taking place between individuals of an insect society by local modifications ...
Tópico(s): Metaheuristic Optimization Algorithms Research
2003 - Elsevier BV | Computers in Industry
Paul Valckenaers, Hendrik Van Brussel, Hadeli, Olaf Bochmann, Bart Saint Germain, Constantin-Bălă Zamfirescu,
Many useful manmade systems in this world are extremely complex; a typical example is a large infrastructure. No design team ever invents these artifacts because they are too complex. These artifacts are made by combining existing elements (legacy) and by building new subsystems without explicit and comprehensive up-front coordination. To a large extent, these complex systems emerge and evolve. Experience shows that designers frequently fail to develop artifacts that, when combined, facilitate the ...
Tópico(s): Product Development and Customization
2003 - Elsevier BV | Engineering Applications of Artificial Intelligence
Hendrik Van Brussel, Chwan-Hsen Chen, Jan Swevers,
The paper describes an innovative integrated design method for accurate tracking in motion control applications, in the presence of external disturbances like friction, cutting forces, etc. First, an extended pole placement method is developed to design feedforward controllers for applications with known future input commands, like in feeddrives for machine tools. It results in a noncausal reference model with a low-pass characteristic with selectable bandwidth and zero phase shift. A new feedback ...
Tópico(s): Advanced machining processes and optimization
1994 - Elsevier BV | CIRP Annals
Johan Scholliers, Hendrik Van Brussel,
A computer-integrated environment has been created around the filament winding process, including design, production and quality control. In the design phase, computer-aided design, finite element analysis and fibre path calculation techniques are integrated. Two filament winding machines have been developed for production: a two-axis filament winding machine and a robotic tape winding machine. The collision-free robot program is generated completely off-line. For quality control, a robotic ultrasonic ...
Tópico(s): Advanced Manufacturing and Logistics Optimization
1994 - Elsevier BV | Composites Manufacturing
Maíra Martins da Silva, Wim Desmet, Hendrik Van Brussel,
This paper considers the simulation and optimization of mechatronic systems with configuration-dependent dynamics. A modeling methodology, able to capture the varying dynamics and the embedded control system actions, using affine reduced models and cosimulation, is proposed. In this way, mechatronic systems with configuration-dependent dynamics can be evaluated during the design phase. This methodology is applied to a pick-and-place assembly robot and an experimental validation is carried out. The mechatronic ...
Tópico(s): Robotic Mechanisms and Dynamics
2008 - Institute of Electrical and Electronics Engineers | IEEE/ASME Transactions on Mechatronics
Paul Valckenaers, Hendrik Van Brussel, Herman Bruyninckx, Bart Saint Germain, Jan Van Belle, Johan Philips,
Dagstuhl seminar no. 10102 on discrete event logistic systems recognized a network of persistent models to be a ''Grand Challenge.'' Such on-line model network will offer an infrastructure that facilitates the management of logistic operations. This ambition to create a network of persistent models implies a radical shift for model design activities as the objective is an infrastructure rather than application-specific solutions. In particular, model developers can no longer assume that they know ...
Tópico(s): Business Process Modeling and Analysis
2011 - Elsevier BV | Computers in Industry
Davy Sannen, Hendrik Van Brussel,
For visual quality inspection systems to be applicable in industrial settings, it is mandatory that they are highly flexible, robust and accurate. In order to improve these characteristics a multilevel information fusion approach is presented. A first fusion step at the feature-level enables the system to learn from an undefined number of potential defects which might be segmented from the images. This allows for the quality control operators to label the data at the image-level and the sub-image- ...
Tópico(s): Image and Object Detection Techniques
2011 - Elsevier BV | Information Fusion
Kris De Moerlooze, Farid Al‐Bender, Hendrik Van Brussel,
Theoretical modelling of wear is a valuable aid for designing and optimizing tribological systems, in particular those involving unlubricated contacts. However, most of the existing models are empirical in nature, which limits their applicability and predictive power. In this communication, a generic, asperity-level, theoretical model for predicting wear evolution in a plain contact is presented. We extend a novel friction model, by elaborating it with energy-based, asperity-degradation/modification ...
Tópico(s): Lubricants and Their Additives
2011 - Elsevier BV | Wear
Gorka Aguirre, Thierry Janssens, Hendrik Van Brussel, Farid Al‐Bender,
The advantages of using piezoelectric actuators in ultra-precision applications are often impaired by nonlinear effects, in particular hysteresis, which may lead to positioning uncertainties of up to 15% of the actuator's stroke. Model-based compensation strategies are often prescribed in order to overcome this limitation and achieve better dynamical accuracy. This comes, however, at the expense of increasing identification and implementation complexity, especially when hysteresis is of the asymmetric ...
Tópico(s): Force Microscopy Techniques and Applications
2011 - Elsevier BV | Mechanical Systems and Signal Processing
Paul Valckenaers, Hadeli, Bart Saint Germain, Paul Verstraete, Hendrik Van Brussel,
This manuscript presents a design for the emergent generation of short-term forecasts in multi-agent coordination and control systems. Food foraging behavior in ant colonies constitutes the main inspiration for the design. A key advantage is the limited exposure of the software agents in the coordination and control system. Each agent corresponds to a counterpart in the underlying system and can be developed and maintained exclusively based on knowledge about its counterpart. This approach to make ...
Tópico(s): Simulation Techniques and Applications
2006 - Elsevier BV | Advanced Engineering Informatics
Paul Valckenaers, Sergio Cavalieri, Bart Saint Germain, Paul Verstraete, Hadeli, Romeo Bandinelli, Sergio Terzi, Hendrik Van Brussel,
Tópico(s): Manufacturing Process and Optimization
2006 - Springer Science+Business Media | Journal of Intelligent Manufacturing
Hadeli, Paul Valckenaers, Paul Verstraete, Bart Saint Germain, Hendrik Van Brussel,
Tópico(s): Supply Chain and Inventory Management
2006 - Springer Science+Business Media | Lecture notes in computer science
Hsiao-Wei Tang, Hendrik Van Brussel, Jos Vander Sloten, Dominiek Reynaerts, Gunter De Win, Ben Van Cleynenbreugel, Philippe R. Koninckx,
Objective: The feasibility of the conceptual Intuitive Writing Interface (IWI) in robot-aided laser laparoscopic surgery has been demonstrated previously. This paper investigates the potential improvement of IWI by comparing conventional manipulation (CM) and IWI manipulation (IM) and conducting an animal experiment.Materials and Methods: Three tasks were designed that were considered to be representative of laser laparoscopic surgical procedures. All test participants used both CM and IM in all tasks. ...
Tópico(s): Minimally Invasive Surgical Techniques
2006 - Taylor & Francis | Computer Aided Surgery
Bert Willaert, Hendrik Van Brussel, Günter Niemeyer,
The design of a bilateral teleoperation system remains challenging in cases with high-impedance slave robots or substantial communication delays. Especially for these scenarios, model-mediated teleoperation offers a promising new approach. In this paper, we present a first stability discussion. We examine the continuous behavior using general control principles and discuss how the model structure and its predictive power affects system lag and stability. We also recognize the unavoidability of discrete ...
Tópico(s): Soft Robotics and Applications
2012 - Springer Science+Business Media | Lecture notes in computer science
Agusmian Partogi Ompusunggu, Jean‐Michel Papy, Steve Vandenplas, Paul Sas, Hendrik Van Brussel,
Abstract Wet friction clutches play a critical role in vehicles equipped with automatic transmissions, power shift transmissions and limited slip differentials. An unexpected failure occurring in these components can therefore lead to an unexpected total breakdown of the vehicle. This undesirable situation can put human safety at risk, possibly cause long-term vehicle down times, and result in high maintenance costs. In order to minimize the negative impacts caused by the unexpected breakdown, an ...
Tópico(s): Gear and Bearing Dynamics Analysis
2012 - Elsevier BV | Mechanical Systems and Signal Processing
Tri Vo Minh, B. Kamers, Herman Ramón, Hendrik Van Brussel,
An antagonistically actuated pair of pneumatic muscle actuators has recently become an interesting basic joint unit for developing humanoid robots or robotic manipulators in general. This basic unit exhibits some advantageous characteristics, such as high compliance, high power-weight ratio, and high volume-to-weight ratio. However, hysteresis and muscle creep are significant drawbacks that limit the performance of this manipulator unit. This paper presents a new approach to model the hysteresis, ...
Tópico(s): Advanced Sensor and Energy Harvesting Materials
2012 - Elsevier BV | Mechatronics
Krzysztof Jankowski, Hendrik Van Brussel,
This paper focuses on the problem of application of inverse dynamics control methods to robots with flexible joints. In Part I of the paper, there are answers presented to a number of questions related to the analytical formulation of nonlinear decoupling control laws. After discussion, the dynamic model of a robot with flexible joints and electrochemical actuators is chosen. The application of the extended computed torque technique together with the methods from the theory of differential-algebraic ...
Tópico(s): Iterative Learning Control Systems
1993 - Elsevier BV | Mechanism and Machine Theory
Solomon Gebregziabher, Abdul M. Mouazen, Hendrik Van Brussel, Herman Ramón, Jan Nyssen, Hubert Verplancke, Mintesinot Behailu, Jozef Deckers, Josse De Baerdemaeker,
Although the development of animal drawn tillage tools in the world has been on the agenda for thousands of years, there is still room for their improvement. The present study attempts to give an overview of previous works toward development of animal drawn tillage tools and to identify the areas having most potential for future improvement. The socio-economy, natural resource situation, historic perspective of animal traction in eastern and southern Africa and more specifically the ard plough history ...
Tópico(s): Agricultural Engineering and Mechanization
2005 - Elsevier BV | Soil and Tillage Research
Tegoeh Tjahjowidodo, Farid Al‐Bender, Hendrik Van Brussel,
In this paper, we present a practical application of non-linear system identification, namely to a mechanical system with a backlash component, based on the skeleton curve reconstruction technique. In the case presented, the identification procedure employs the instantaneous amplitude and frequency of the input and the output of the base motion system under certain forced excitation. Hilbert transform analysis is a well-known method to extract these instantaneous characteristics; however, it is ...
Tópico(s): Bladed Disk Vibration Dynamics
2005 - Elsevier BV | Mechanical Systems and Signal Processing
Tegoeh Tjahjowidodo, Farid Al‐Bender, Hendrik Van Brussel,
This paper presents a detailed numerical and experimental study of a mechanical system comprising a backlash element that shows chaotic behaviour in a certain excitation range. It aims to quantify the chaotic behaviour of the responses and correlate the quantification parameters to the parameters of the (non-linear) system, in particular the backlash size. The motivation for this investigation is to be able ultimately to identify the parameters of non-linear systems without necessarily being able ...
Tópico(s): Vibration and Dynamic Analysis
2005 - Elsevier BV | Mechanical Systems and Signal Processing
Karuna Hadeli, Paul Valckenaers, Bart Saint-Germain, Paul Verstraete, Constantin-Bălă Zamfirescu, Hendrik Van Brussel,
This paper presents the design of new manufacturing coordination and control systems based on multi-agent technology. This design aims to cope with a dynamic environment characteristic for manufacturing systems nowadays. One important feature to handle these dynamics is having the ability to plan ahead, thus avoiding problems before they occur. Therefore, one novel characteristic of the system is the ability to perform emergent forecasting. Regarding emergent forecasting, an important issue that ...
Tópico(s): Scheduling and Optimization Algorithms
2005 - Springer Science+Business Media | Lecture notes in computer science
Jan Peirs, Joeri Clijnen, Dominiek Reynaerts, Hendrik Van Brussel, Paul Herijgers, Brecht Corteville, S Boone,
A 5 mm diameter tri-axial force sensor has been developed for minimally invasive robotic surgery. To define the required force range and resolution, a needle driver has been equipped with strain gauges. In vivo tests with different types of needles and tissue show that the required force range and resolution are, respectively, 2.5 N and 0.01 N. The new sensor is based on a flexible titanium structure of which the deformations are measured through reflective measurements with three optical fibres. ...
Tópico(s): Intraoperative Neuromonitoring and Anesthetic Effects
2004 - Elsevier BV | Sensors and Actuators A Physical
Karuna Hadeli, Paul Valckenaers, Constantin-Bălă Zamfirescu, Hendrik Van Brussel, Bart Saint Germain, Tom Hoelvoet, Elke Steegmans,
In order to cope with today's dynamic environment, the described manufacturing control system is designed as a self-organising multi-agent system. The design of this novel system implements the PROSA reference architecture [1]. Coordination among agents is done indirectly through a pheromone-based dissipative field as is done by social insects in coordinating their behaviour. In this case, our agents act as social insects interpreting the pheromones put by the others in the environment. This control ...
Tópico(s): Advanced Manufacturing and Logistics Optimization
2004 - Springer Science+Business Media | Lecture notes in computer science
Agusmian Partogi Ompusunggu, Paul Sas, Hendrik Van Brussel,
Adhesive wear and thermal degradation are the main aging mechanisms of paper-based friction materials. However, how these aging mechanisms affect the tribological characteristics of such materials is not fully understood. In this paper, the respective influences of the two aging mechanisms on the tribological characteristics of the friction materials are investigated through simulation. It is assumed that adhesive wear pre-dominantly affects the surface topography, while thermal degradation significantly ...
Tópico(s): Mechanical stress and fatigue analysis
2014 - Elsevier BV | Tribology International