Annual Report 2005 - Materials Technologymate.tue.nl/mate/pdfs/6757.pdfAnnual Report 2005 Dynamics and Control Technology Group 1 Department of Mechanical Engineering ... Dynamics

Annual report DCT 2005 -1-

Annual Report 2005

Dynamics and Control Technology Group1

Department of Mechanical Engineering

Eindhoven University of Technology The Netherlands

Report 2006.01 Address Lia Neervoort Eindhoven University of Technology Dynamics and Control Technology P.O. Box 513 5600 MB Eindhoven The Netherlands Tel.:+31.40.2474817 Fax.: +31.40.2461418 E-mail: [email protected]

1 Sections: Dynamics & Control (D&C) and Control Systems Technology (CST)


CONTENTS 1. Employees 2. Education 3. Research 4. Internal Reports

-2- Annual report DCT 2005



1. EMPLOYEES OF THE GROUP (per 31 December 2005)

1.1. Co-workers Full professors : Dr. H. Nijmeijer Dr.Ir. M. Steinbuch Dr.Ir. D.H. van Campen (PM, Dean TU/e-W) Dr.Ir. J.J. Kok (0.4) Part-time professors : Ir. O.H. Bosgra (0,2; 0,2 TU/e-EE; 0,6 TUD) Dr.Ir. N.B. Roozen (0,2; 0,8 Philips CFT) Dr.Ir. J.W. Verheij (PM) Senior research staff : Dr.Ir. J.J.M. Besselink (0.4; 0,6 TNO) Dr.Ir. M. Camlibel Dr.Ir. R.H.B. Fey Dr.Ir. J. Goorden (0.4 robocup proj. manager) Dr.Ir. A.G. de Jager Ir. L. Kodde Dr.Ir. A. de Kraker (0.3; 0.7 TUE-W) Dr.Ir. I. Lopez Ir. T.J.J. Meijlink (0,2) Dr.Ir. M.J.G. v.d. Molengraft Ir. P.W.J.M. Nuij Dr.Ir. W.J.A.E.M. Post Dr.Ir. P.C.J.N. Rosielle Dr.Ir. A.F.A. Serrarens (0.2, 0.8 DTI) Ir. P.T. Teerhuis (PM) Dr. P.A. Veenhuizen (0.4; 0.6 HAN Arnhem) Dr.Ir. F.E. Veldpaus (PM) Dr.Ir. N. v.d. Wouw Supporting staff : R. v.d. Bogaert Ir. G.A. Ersoy (robocup proj. office) M.A.P.M. v. Gils P.G.M. Hamels C.A. Hofkens (0.4) Ir. P.w.C. v. Hoof H.C.T. v.d. Loo W.J. Loor E. Meinders C.M. Neervoort-Sanders (0.8) L.C. de Ruijter-van Blommestein (0.4) J.G.M. de Vries Ph.D Students : Ir. W.H.T.M. Aangenent Resource 1 Ir. M.L.G. Boerlage Ir. J.J.M. van Helvoort Ir. R.M.C. Mestrom Ir. B.J.P. Roset Ir. J.J.M. v.d. Wijdeven


Resource 2 (STW/NWO): Ir. L.J.M. van den Bedem Ir. J.D.B.J.v.d. Boom Ir. T. Hofman Ir. N.J. Mallon Ir. R. Scholte Resource 3 Ir. B. Bonsen (Senter/Novem) Ir. D. Bruijnen (Océ) Ir. B.H.M. Bukkems (Senter/Novem) Ir. M.B.G. Cloosterman (Senter/Novem) M.Sc. A. Doris (EEG) Ir. W.J.E. Evers (CCar) Ir. R.P.H. Faasen (TNO/S&T) Ir. R.F.M.M. Hamelinck (Senter/Novem) Ir. A.J. den Hamer (Philips) Ir. J. v. Helvoirt (TNO/S&T) Ir. R. Henselmans (Senter/Novem) Ir. T.W.G.L. Klaassen (Senter/Novem) Ir. M.W.T. Koot (Ford) Ir. E.P. v.d. Laan (CCar) Ir. K.G.O. v.d. Meerakker (Senter/Novem) Ir. R.J.E. Merry (Nanoned Senter/Novem) Ir. S.H. v.d. Meulen Ir. T.A.E. Oomen (Philips) Ir. M.G.E. Schneiders (Senter/Novem) Ir. J.K. van Seggelen (Senter/Novem) Ir. A.A. v. Veggel (TNO/S&T) Ir. C. Werner (Nanoned Senter/Novem) Post-docs : Dr.Ir. R.M. v. Druten (NWO) Dr.Ir. A.J.C. Schmeitz Dr.Ir. B. Vroemen (0.2, 0.8 DTI) Visiting Scientist M.Sc. B. Bøhagen M.Sc. F.X. Debiesme (TNO/EM) Ir. W.J. Dijkhof (TNO/EM) Ir. R. Hendrix (Senter/Novem) Ir. G.J.L. Naus (TNO)


1.2. Personal matters Appointed in 2005 Name employment date Dr.Ir. A. Pavlov Post Doc 01-12-2004 Ir. A.J. den Hamer AIO 01-01-2005 Dr.Ir. R.J. Hesseling Post Doc 01-01-2005 Dr.Ir. P.C.J.N. Rosielle Associate Prof. 01-03-2005 Ir. J. Stembera Visiting Scientist 29-03-2005 Dr.Ir. J. Goorden Part-time research staff 01-04-2005 Ir. J.K. van Seggelen AIO 01-04-2005 Ir. R.M.C. Mestrom AIO 01-05-2005 Ir. R. Hendrix AIO 01-05-2005 Prof.Dr.Ir. A. Shukla Visiting scientist 17-05-2005 Dr.Ir. M. Camlibel Assistant Prof. 15-06-2005 Ir. R.J.E. Merry AIO 15-06-2005 Dr.Ing. G. Achtenova Visiting scientist 08-07-2005 Dr.Ir. W. Paszke Visiting scientist 20-07-2005 Ir. G.A. Ersoy Supporting Staf 10-08-2005 Mevr. L.C. de Ruijter Secretary member 19-08-2005 M.Sc. Bjønar Bøhagen Visiting scientist 01-09-2005 Ir. W. Versteden Research Assistant 01-09-2005 Ir. T.A.E. Oomen AIO 01-09-2005 Ir. W.J.E. Evers AIO 26-09-2005 Dr.Ir. G. Carbone Visiting scientist 29-09-2005 Ir. S.H. v.d. Meulen AIO 01-10-2005 Hr. P.W.C. v. Hoof Supporting Staf 01-12-2005 Ir. G.J.L. Naus Visiting scientist 01-12-2005 Leaving office Name employment Date Prof.Ir. N.J.J. Liebrand Parttime Professor 01-01-2005 retirement Prof.Dr.Ir. J.W. Verheij Parttime Professor 01-01-2005 retirement Ir. R.J. Pulles Visiting Scientist 15-02-2005 Dr.Ir. R.J.Hesseling Post Doc 01-04-2005 end contract Ir. S.P.M. Noijen Visiting scientist 01-06-2005 end contract Dr.Ir. N. Mihajlovic AIO PhD Thesis 30-06-2005 Dr.Ir. A. Pavlov Post Doc 30-06-2005 Dr.Ir. F.E. Veldpaus Senior research staf 01-07-2005 retirement Prof.Dr.Ir. A. Shukla Visiting scientist 15-08-2005 Dr.Ing. G. Achtenova Visiting scientist 01-09-2005 Ir. J. Stembera Visiting scientist 01-09-2005 Dr.Ir. W. Paszke Visiting scientist 20-09-2005 Dr. J.J.M. Rijpkema Senior research staf 01-10-2005 to Wsk/Inf Ir. W. Versteden Research Assistant 01-11-2005 Dr.Ir. G. Carbone Visiting scientist 28-12-2005


2. COURSES DELIVERD BY THE GROUP Control Systems Technology Code Course Lecturers Year Oblige/

ElectivePeriod From/till

4A250 Signal analysis René v.d. Molengraft / Pieter Nuji

1 Oblige T2 b C/ T2 b D

4A550 Control engineering Maarten Steinbuch / Jan Kok


4A551 Control engineering Maarten Steinbuch / Jan Kok


4C620 Design principles Nick Rosielle 2 Oblige T3 b E/ T3 b F

4A560 Multivariable control Jan Kok / Bram de Jager 3 Oblige T1 b A/ T1 b B

4J820 Applied nonlinear control Bram de Jager 4 Elective T2 b C/ T2 b D

4K140 Capita selecta in control Maarten Steinbuch / Okko Bosgra / Henk Nijmeijer

4 Elective T3 b E/ T3 b F

4K150 Advanced motion control Maarten Steinbuch / Matthijs Boerlage

4 Elective T2 b C/ T2 b D

4K410 Digital motion control Maarten Steinbuch / René v.d. Molengraft

4 Elective T1 b A/ T1 b B

4K450 Embedded motion control René v.d. Molengraft 4 Elective T3 b E/ T3 b F

4K560 Modelling in systems and control Okko Bosgra / Bram de Jager

4 Elective T3 b E T2 b C/ T3 b F T2 b D

4K580 System theory for control Okko Bosgra / Bram de Jager


4N630 Fluid power transmissions and servo systems

Wil Post / Piet Teerhuis Elective T1 b A/ T1 b B

4N830 Vehicle drive trains Bram Veenhuizen / Roell v. Druten / Erwin Meinders


4N840 Hybride power trains Bram Veenhuizen / Theo Hofman



Dynamics and Control Code Course Lecturers Year Oblige/

ElectivePeriod From/till

4A240 Dynamics Rob Fey / Ines Lopez Henk Nijmeijer


4A320 System analysis Ines Lopez / Koo Rijpkema 1 Oblige T3 b E/ T3 b F

4A460 Mechanical vibrations Bram de Kraker / Ines Lopez

2 Oblige T1 b A/ T1 b B

4A461 Mechanical vibrations Bram de Kraker / Ines Lopez

1 Oblige T1 b A/ T1 b B

4U600 Applications of design principles Nick Rosielle 3 Oblige T2 b C/ T2 b D

4J100 Control of nonlinear mechanical systems

Henk Nijmeijer / Nathan v.d. Wouw


4J400 Multibody dynamics Ines Lopez / Nathan v.d. Wouw


4J520 Nonlinear dynamics Henk Nijmeijer / Nathan v.d. Wouw


4K300 Experimental mechanics Rens Kodde 4 Elective T1 b A/ T1 b B

4J530 Eng. Optimization: conc. & appl. Pascal Etman / Koo Rijpkema


4J560 Numerical and experimental analysis of linear dyn. systems

Rob Fey 4 Elective T3 b E/ T3 b F

4J570 Advanced vehicle dynamics Igo Besselink / Antoine Schmeitz


4K140 Capita selecta in control Okko Bosgra / Maarten Steinbuch / Henk Nijmeijer


4L150 Vehicle dynamics Igo Besselink / Antoine Schmeitz


4L810 Fundamentals of systematic low noise

Bert Roozen 4 Elective T2 b C/ T2 b D

4T700 Engineering optimization: advanced topics

Pascal Etman / Koo Rijpkema



2.1 Number of graduated students per professor Bosgra : 3 Nijmeijer : 20 Roozen : 1 Steinbuch : 26

2.2 Graduated students

In 2005, 50 students of the DCT Group graduated. For the titles of the engineering theses the reader is referred to Chapter 4: internal reports.

Name

Professor Date

S.P.M. Noijen Nijmeijer January 10 J. de Boeij Steinbuch E.E. Visser Steinbuch M.P.M. Hendriks Nijmeijer March 14 A.H.J.A. Martens Nijmeijer V. Pardede Nijmeijer R.E.A. Blom Roozen A.J. den Hamer Steinbuch R. Hendrikx Steinbuch M. Houben Steinbuch R.M.W. Sanders Steinbuch B.R.A. Janssen Nijmeijer May 23 P. Kolijn Nijmeijer R.M.C. Mestrom Nijmeijer M.E.W. Scholz Nijmeijer H.M.R. Suy Nijmeijer P.H.W.M. Albers Steinbuch M.B. Arnolds Steinbuch L.H.M. van Gerven Steinbuch C. de Metsenaere Steinbuch T.A.E. Oomen Bosgra June 27 A.J.T. Buijsse Nijmeijer R. Cremers Nijmeijer N.G.M. Rademakers Nijmeijer J. Boot Steinbuch J.R.P. Kusters Steinbuch R.J.E. Merry Steinbuch N.J.M. Bosch Bosgra September 12 S.H. van der Meulen Bosgra P. van Dongen Nijmeijer W.J.E. Evers Nijmeijer J. de Hoogh Nijmeijer M.J.H. Meijboom Nijmeijer W.D. Versteden Nijmeijer M. Wondergem Nijmeijer G.A. Commissaris Steinbuch September 12 M.H.J. Cuijpers Steinbuch R. Geurink Steinbuch


D. Hoekstra Steinbuch F. van der Hulst Steinbuch K. van der Molen Steinbuch G.J.L. Naus Steinbuch J.L.M. de Ruijter Steinbuch P. Tijl Steinbuch R. Wakker Steinbuch F.P. Wijnheijmer Steinbuch H.W.J. van den Berg Nijmeijer November 14 J.P.M. Vissers Nijmeijer R.J.M. Oosterbosch Steinbuch J.H. Rutten Steinbuch


3. RESEARCH DOCUMENTATION OF THE DYNAMICS AND CONTROL TECHNOLOGY GROUP

3.1 Full title of the research programmes Dynamics and Control (D&C) Control Systems Technology (CST)

3.2 Subsidiary programmes 1) Non-linear dynamics of mechanical systems 2) Structural acoustics and noise control 3) Structural optimization 4) Advanced motion systems 5) Process-control 6) Automotive technology 7) Mechanical Design

3.3 Programme members Tenured research staff D&C Full Professor Prof.Dr. H. Nijmeijer 0.4 Prof.Dr.Ir. D.H. van Campen PM Associate Professor Dr.Ir. A. de Kraker PM Dr.Ir. P.C.J.N. Rosielle 0.2 Assistant Professor Dr.Ir. M. Camlibel 0.2 Dr.Ir. R.H.B. Fey 0.4 Ir. L. Kodde - Dr. J.J.M. Rijpkema 0.1 Dr.Ir. N. v.d. Wouw 0.4 Total tenured staff D&C 1.7 Tenured research staff CST Full Professor Prof.dr.ir. M. Steinbuch 0.4 Prof.dr.ir. J.J. Kok 0.1 Associate Professor Dr.ir. A.G. de Jager 0.4 Dr.Ir. P.C.J.N. Rosielle 0.2 Dr.ir. F.E. Veldpaus 0.2 Assistant Professor Dr.ir. M.J.G. v.d. Molengraft 0.4 Ir. P.W.J.M. Nuij 0.4 Dr.ir. W.J.A.E.M. Post 0.4 Dr. P.A. Veenhuizen 0.3 Total tenured staff CST 2.8 Non-Tenured research staff D&C Part-time Professor Prof.Dr.Ir. J.W. Verhey 0.1 Prof.Dr.Ir. N.B. Roozen 0.1 Assistant Professor Dr.Ir. I. Lopez 0.4 Dr.Ir. J.J.M. Besselink 0.2 Total NonTenured staff D&C 0.8 Non-tenured research staff CST


Part-time Professor Prof.ir. O.H. Bosgra 0.1 Associate Professor Ir. T.J.J. Meijlink PM Dr.Ir. A.F.A. Serrarens 0.1 Ir. P.C. Teerhuis PM Total 0.2 Post-doctoral fellows D&C Dr.Ir. A. Pavlov 0.4 Dr.Ir. A.J.C. Schmeitz 0.5 Total 0.9 Post-doctoral fellows CST Dr.ir. R.M. v. Druten 0.6 Dr.ir. B.G. Vroemen 0.1 Total 0.7 PhD students D&C M.Sc. F.X. Debiesme PM Ir. W.J. Dijkhof PM M.Sc. N. Mihajlovic 0.2 Ir. M.B.G. Cloosterman 0.8 M.Sc. A. Doris 0.8 Ir. R.P.H. Faassen 0.8 Ir. A.A. v. Veggel 0.8 Ir. B.J.P. Roset 0.8 Ir. N.J. Mallon 0.8 Ir. J. D.B.J. v.d. Boom 0.8 Ir. R. Scholte 0.8 Ir. R.M.C. Mestrom 0.5 Ir. W.J.E. Evers 0.2 Total PhDs D&C 7.3 PhD students CST Ir. M.G.E. Schneiders 0.8 Ir. M.W.T. Koot 0.8 Ir. T.W.G.L. Klaassen 0.8 Ir. B. Bonsen 0.8 Ir. K.G.O. v.d. Meerakker 0.8 Ir. J. v. Helvoirt 0.8 Ir. B.H.M. Bukkems 0.8 Ir. R.F.M.M. Hamelinck 0.8 Ir. D.J.H. Bruijnen 0.8 Ir. T. Hofman 0.8 Ir. J.J.M. v. Helvoort 0.8 Ir. R. Henselmans 0.8 Ir. W.H.T.M. Aangenent 0.8 Ir. J.J.M. v.d. Wijdeven 0.8 Ir. M.L.G. Boerlage 0.8 Ir. C. Werner 0.8 Ir. J.K. van Seggelen 0.8 Ir. L.J.M. v.d. Bedem 0.8 Ir. E.P. v.d. Laan 0.8 Ir. A.J. den Hamer 0.4 Ir. S.H. v.d. Meulen 0.1


Ir. R.J.E. Merry 0.4 Ir. T.A.E. Oomen 0.4 Total PhDs CST 16.5 Non tenured Temp. researcher CST and D&C Ir. R. Hendrix 0.3 Ir. G.J.L. Naus 0.1 Summary 2005 Total tenured staff 4.5 Total non-tenured staff 1.0 Total Post-doc. fellows 1.6 Total PhD students 23.8 Total non-tenured temp. researchers 0.4 Total research staff 31.3

3.4 PhD-projects per December 2005: name, source of financing and project title

Non-linear Dynamics of Mechanical Systems Ir. N.J. Mallon (PhD 2) Dynamic stability of thin walled structures Ir. R.P.H. Faasen (PhD 3) Chatter in high-speed milling Ir. R.M.C. Mestrom (PhD 1) Dynamics of multiphysics systems Structural Acoustics and Noise Control M.Sc. F.X. Debiesme (PhD 3) Design tools for low noise products with uncertain

parameters Ir. W.J. Dijkhof (PhD 3) Analysis methods for low noise products with

uncertain parameters Ir. R. Scholte (PhD 2) Acoustic holography

Advanced Motion Systems Ir. D.J.H. Bruijnen (PhD 3) Oce Mechatronics Device Ir. B.J.M. Bukkems (PhD 3) Boderc/Embedded Systems Ir. M.B.G. Cloosterman (PhD 3) Boderc/Embedded Systems Ir. M.G.E. Schneiders (PhD 3) Overactuated Systems Ir. B.J.P. Roset (PhD 1) Control of Manufacturing Systems M.Sc. A. Doris (PhD 3) Control of non-smooth systems Ir. J.J.M. v. Helvoort (PhD 1) Data-based control Ir. W.H.T.M. Aangenent (PhD 1) Non-linear motion control Ir. J.J.M. v.d. Wijdeven (PhD 1) Iterative learning control Ir. M.L.G. Boerlage (PhD 1) Multivariable motion control Ir. W.J.E. Evers (PhD 3) Active cabin suspension control Ir. A.J. den Hamer (PhD 3) Frequency response control synthesis Ir. R.J.E. Merry (PhD 3) Control of scanning microscope instruments Ir. T.A.E. Oomen (PhD 3) Model based motion control Process-control Ir. J. van Helvoirt (PhD1/3) (0.5) 0.5 TNO-TPD Active Anti-Surge Control Ir. J.D.B.J. v.d. Boom (PhD 2) Dynamic stabilization of combustion Automotive Technology


Ir. B. Bonsen (PhD 3) Modelling and control of slip in a push-belt Ir. T. Hofman (PhD 2) Hybrid VehicleTopology Ir. T.W.G.L. Klaassen (PhD 3) Alternative variator actuation Ir. M.W.T. Koot (PhD 3) Energy management for vehicle power nets Ir. K.G.O. vd Meerakker (PhD 3) Alternative variator actuation Ir. E.P. v.d. Laan (PhD 3) Control in passive safety Ir. S.H. v.d. Meulen (PhD 3) Slip control Mechanical Design Ir. L.J.M. v.d. Bedem (PhD 2) Medical Robotics Ir. R.F.M.M. Hamelinck (PhD 3) Adaptive Optics Ir. R. Hendrix (PhD 3) Medical Robotics Ir. R. Henselmans (PhD 3) Free-from optics measurement instrument Ir. J.K. v. Seggelen (PhD 3) Nano measurement machine Ir. A.A. van Veggel (PhD 3) Design of a metrology system for GAIA Ir. C. Werner (PhD 3) Large stroke AFM

3.5 Postdocs: name, country, project title and period of stay

Dr.Ir. R.M. v. Druten Power train design Dr.Ir. A. Pavlov Convergent systems Dec 2004 – June 2005 Dr.Ir. A.J.C. Schmeitz Vehicle dynamics & tyres Dr.Ir. B.G. Vroemen Power trains design

3.6 Research in the Dynamics and Control Technology Group

The general research objective of the Dynamics and Control Technology group is the study of all aspects related to design, dynamics and control of high-performance mechanical systems. This covers the full range of topics such as design, modelling and analysis of systems, controller synthesis, signal and performance analysis. Practical and experimental validation is, where possible, part of the research. The increasing requirements on accuracy, energy consumption, environmental aspects, and human comfort for many technical products urge the need for a better understanding, modelling, analysis, and synthesis to improve performance. This requires an accurate modelling of the dynamics, preferably in a form suitable for analysis and, where possible, also for the synthesis of control systems. In particular for mechanical systems such an approach is feasible and promising, due to the existing broad experience in the modelling of these systems. In other physical disciplines the situation is different and first principles are usually not so well developed. The inherent dynamic properties of mechanical systems are physical and geometric nonlinearities, possibly a large number of degrees of freedom, interactions between the degrees of freedom and, often, a relatively high speed of operation. The combination of these properties easily leads to difficulties in the modelling and analysis, and thereby also in bringing a model-based controller design to a successful end in practice. This is the basic challenge throughout the research in the DCT-Group, thereby aiming at methods and tools of practical value. Clearly, it is the ambition of the group to work at the forefront of present-day technology and to aim at a highly recognisable research stature within the department, but also within and outside the Netherlands. The research in the Dynamics and Control Technology group comprises research in the following areas. 1. Non-linear dynamics of mechanical systems 2. (Structural) acoustics and noise control


3. Structural optimization 4. Advanced Motion systems 5. Process-control 6. Automotive technology 7. Mechanical Design Before surveying the results and developments in this research programme, a description is given our lab facilities the other labs in which we are involved, and of the structure of cooperation within research schools, and with other groups both in academia and industry.

3.7 Dynamics and Control Technology Laboratories

Besides the DCT Motion Lab at floor –1 in building WH the automotive activities take place in the Automotive Engineering Science Lab in Wl. Also the Fluid Power lab, and the Constructions and Mechanisms labs are part of the DCT group.

3.7.1 The Dynamics and Control Technology Motion lab.

This year a few innovations in our Dynamics & Control Technology Motion Laboratory have been made. The drill-string, the H-drive pick-and-place system, the RRR robot manipulator, the inverted pendulum, and the one-sided impact flexible beam are actively used as test-bed for research. Also, we have a FAMM direct drive robot (Philips CFT), four mechanical pick-and-place units (‘Pizza steppers’), a small scale mobile robot (‘bellybot’), a 1-DOF medical manipulator with force feedback and a mechanical set-up for slip detection. A real-time Linux-based data-acquisition system has been set up for rapid control prototyping. In addition we have build this year an experimental set-up for a printer paper path control problem, and also a new environment has been build for our new course Embedded Motion Control, and we have been active with set-ups for the TechUnited RoboCup soccer robots. Our technical staff (mechanical and electrical) is key in providing support and creating a stimulating environment for PhD and MSc students to do their experiments in the Lab. The real-time hardware, data acquisition and measurement equipment is now at a mature level, including over 10 dSpace systems, 5 SigLab measurement systems, and over 30 TU/e DACS systems which enable students to use their own notebook computers as real-time control processors.


Printer paper patht

Overview of DCT lab.

3.7.2. The Fluid Power lab

The Fluid Power lab in building W-laag comprises a high power hydraulics power plant unit and various test beds. A number of experiments are running within the field of fluid power transmission and automotive applications, with an increased focus on high performance hydraulic servo motion systems. .

3.7.3. The AES lab


Within the Department there is a rapidly growing activity around automotive systems. Experimental facilities for almost all these activities are now concentrated in the new Automotive Engineering Science Lab in W-laag.

3.7.4. The Constructions & Mechanisms Lab Wlaag oost 0.68

The C&M Lab is a design lab for mechanical design and engineering for typically 8 PhD’s and 10 MSc. students specializing in the design and construction of Machines, instruments and consumer products with a focus on positioning, manipulation using design principles.


3.8 Structure of cooperation

Department of Mechanical Engineering Besides the cooperation with the sections of the DSD division, also with other groups in the Department common projects are running. Eindhoven University of Technology Local cooperation exists in particular with the Department of Biomedical Engineering, Department of Electrical Engineering (Control Systems group, Electro-mechanics and Power Electronics group), and with the Department of Mathematics and Computing Science. National Research Schools The Dynamics and Control Technology group takes part in the National Research School DISC (Dutch Institute for Systems and Control) to enable a co-operation between the groups locally as well as countrywide. The common interest in systems and control theory and the education of PhD students in particular are the driving factors. In 2005 DISC has been evaluated and re-approved as a national research school by the Dutch Royal Academy of Sciences. On the level of applications, however, each group within DISC, needs a full imbedding in its own faculty. Within Eindhoven we have organized the DISC groups within ‘Eindhoven Control’. We are also part of the TU/e wide focus areas Mechanics and Control, and the Embedded Systems TU/e cooperation (SEES). The DCT group also takes part in the National Research School EM (Engineering Mechanics). Engineering Mechanics has been re-approved as a national research school by the Dutch Royal Academy of Sciences in 2004. National research institutes As far as national research institutes are concerned, important co-operation exists with the TNO Science and Industry in the following areas: in the field of structural acoustics, compressor dynamics and control, high-speed chattering; on automotive power trains , on active control of vehicle restraint systems, and on vehicle dynamics and control. The


Constructions and Mechanisms activities over the past 15 years established a strong cooperation with TNO S&I/Optomechanics (4 PhD’s) and NMI (2 PhD’s) in the field of opto-mechanics.. Recently, and given the large interest and numerous activities in the automotive field effort is put into establishing jointly between TNO, TU/e and industrial partners a Competence Centre on automotive Research (CCAR). In 2002 the IOP-TS funded research project “Boderc” started with the Embedded Systems Institute. In this project on embedded systems we are actively involved and work together with a number of others universities and industrial partners (Océ, Philips). We started with a co-operation with FOM, regarding the control issues for nuclear fusion. Industrial Contacts Apart from the mentioned Boderc project, co-operations with industrial partners exist in the form of a number of PhD projects. Together with Ford Research Aachen and the Control Systems group of TU/e, EE, a project is running on vehicle electric power management. With Philips Research, Philips Applied Technologies and Philips Optical Storage co-operations are running on advanced motion control, and on control of optical drives. Also a project with Océ is running since 2003, and with VDT Tilburg a program is running on CVT’s. On the level of student final thesis work other industrial contacts exist with DTI, GCI, Océ, Philips Electronics N.V., VDT, DAF, CCM, Nyquist Control, 2M, Vredestein and others.

International co-operation Within the EU 5th framework programme the DCT group participates in a number of European Projects, such as SICONOS (non smooth dynamics and control) and the Marie Curie Control Training Site (CTS), as well as the Network of Excellence HYCON (Hybrid Control Network). We take part in the Danish program WAVES, on the use of wavelets in control. In the year 2005 again a substantial number of students went abroad for their 14 weeks training period, to various colleagues in the field (Australia, Detroit, Florida, Amherst, Aalborg, San Diego, Buffalo, Mexico, Japan, Singapore, Shanghai …)

3.9 Overview of results and future developments

Non-linear dynamics of mechanical systems (research area 1) Within this theme, the following research topics are investigated: Numerical and experimental study of non-smooth mechanical systems, like systems with friction, impacts, or constraints. The research on these phenomena is highly relevant in many engineering applications (friction in high performance/high precision systems, drill-strings, hybrid control systems etc.). Numerical aspects are notably difficult, but with increasing computer power, become more and more feasible. Interesting and important results involve the study of bifurcations in non-smooth systems. Cooperation with Remco Leine (ETH, Zürich) has resulted in a monograph on this subject as well as several other publications. A further development along the line of non-smooth systems consists of the study of active control of non-smooth mechanical systems. This is part of the EU sponsored project, SICONOS and is linked with the European Network of Excellence HYCON (Hybrid Control Network). Additionally, possibilities for both active and passive control of piecewise linear systems are studied. Development of accessible (numerical) procedures for the steady-state response under periodic excitation. In particular, a non-linear dynamics toolbox with time-discretization, shooting methods and a path-following procedure has been integrated in the commercial finite element package DIANA and in the general-purpose package MATLAB. Non-linear dynamics phenomena such as bifurcations have been studied both experimentally and numerically. Among others, a PhD thesis combining numerical and experimental


bifurcation analysis on the drillstring set up in the DCT lab, demonstrates the value of our analysis. (Structural) acoustics and noise control (research area 2) Two PhD students are completing their thesis on the modelling and optimization of uncertainty in structural vibrations and the associated sound radiation. Important examples for low-noise design are road vehicles, railway carriages, aircraft, ships and MRI-scanners. With respect to structural-acoustic modelling, these examples have two characteristic problems in common. These are the enormous size of numerical models needed to describe their physics correctly and their uncertainty behaviour. The first topic refers to the frequency range in which structural wavelength is small compared to the characteristic geometrical dimensions. The latter characteristic means that nominally identical structures show a large and rather unpredictable scatter in acoustic behaviour. This is true for new products and may even increase after some years of use. Therefore, much interest is shown in improving predictive capabilities and in optimization for robust designs, i.e. designs which do not deteriorate easily during their life cycle. The research topic Tyre-road noise currently focuses on modeling the acoustically relevant structural vibrations of rolling tyres. A student has recently finished his MSc. thesis and a second student has continued in this direction. On the subject “Acoustic holography” an STW-project proposal is running on the subject of the inverse acoustic holography method.

Tyre-road noise The research topic “Tyre-road noise” is focused upon the development of numerical prediction procedures for structure borne noise transmission from the tyre vibrations due to tyre-road contact to the interior noise in a car. This structure borne noise transmission path is dominated by frequencies below 500 Hz. The numerical prediction procedures involves an efficient procedure to take the dynamics of a rotating tyre into account on the basis of structural modes of the tyre that are obtained from non-rotating tyre model. This procedure reduces the computer resources in terms of both computer memory and computation time drastically, from being non-feasible to acceptable resources. A graduation student has recently finished his MSc. Thesis on this topic. A second student has continued using this modeling procedure, and focuses now on the modeling of the tyre-road contact models. Acoustic Imaging: Measurement Techniques and Signal Processing Focus has been on realization of a measurement facility for acoustic holography, which facilitates a semi-anechoic room with a fully controllable traverse system and integrated control and post-processing software. Since October 2005 it is possible to conduct holographic measurements on stationary sources and produce acoustic images with millimeter range spatial resolutions. Fundamental research has been conducted on regularization of Planar Near-field Acoustic Holography (PNAH), spatial sampling and aliasing. Both topics have been published and presented on international congresses. Regularization of PNAH focuses on handling the ill-posed-ness of PNAH and finding the correct parameters for the low-pass filters that are applied. The result of this could mean a way to fully automate the PNAH process. Spatial sampling and aliasing is a very important topic where many mistakes are made, especially in measurement set-ups. A tool has been developed to exactly determine microphone and hologram distances with respect to the source and for a given signal-to-noise ratio of the measurement.

Structural optimization (research area 3) The research in this area concerns the development of tools for the optimization of the dynamic behaviour of constructions, where the engineering optimization problem is considered as an interrelated combination of an Optimal Design Problem (ODP) and an


Optimal Control Problem (OCP). Particular attention is paid to the development and utilization of both approximation concepts in the optimization process and of strategies for the combination, integration and coordination of effective approaches for (uncertain) ODP and OCP. In co-operation with the Systems Engineering section and the Structural Optimization and Computational Mechanics group from TUD an inter-university research project ‘ADOPT: Sequential Approximate Design Optimization including uncertainties, discontinuities and discrete design variables’, sponsored by the Technology Foundation STW, is running. The aim of the project is to develop design optimization tools for problems exhibiting simultaneously discrete design variables, uncertainties, and discontinuous response functions. Applications are foreseen in the design of (automotive) multibody systems, composite structures and manufacturing systems. In particular, the Automatic Balancing Unit (ABU) donated by Philips CFT has been used as an experimental carrier in this project.

Advanced Motion Systems (research area 4) Advanced Motion Control. In motion systems, such as robots, pick-and-place machines and disc drives, the fundamental limitation with respect to controlled performance is primarily due to causality. Because high accuracy plant models are relatively easy to acquire, feedforward is used for servo tasks whereas the primary role of feedback is to suppress disturbances. The causality is expressed by the Bode sensitivity integral theorem, stating that a reduction of the low-frequent disturbances will always be accompanied with an amplification of high frequent signals, e.g. measurement noise (the waterbed effect). This fundamental limitation is the driving force for a few lines of research: (i) further exploration of feedforward, including iterative learning control, (ii) disturbance- and data-based control, i.e. using the internal model principle and the principle of ‘machine-in-the-loop’ for adjusting the controller parameters on the basis of on-line measurements, (iii) non-linear control of linear motion systems and, finally, (iv) multivariable control of mechanical systems. Related to these areas, also the possible extension of frequency response analysis towards non-linear dynamics is addressed. Here, the group has a track-record with respect to identification and control of systems with friction. Advanced Motion System Design. Various projects address mechatronics research questions. One project is on the control of lightweight motion systems with more actuators (and sensors) than rigid body degrees of freedom. The combined motion and vibration task and the co-operation with researchers from the mechanical design and the electrical domain make the project multidisciplinary and challenging. Another project focuses on tensegrity structures, including I/O selection and optimization. With Océ a project is running on the design of a new accurate printhead. New activities, together with the Department of BioMedical Engineering, concentrate on medical robotics, in particular on minimally invasive robotic surgery systems. These activities capture haptic feedback (STW), Eye surgery, as well as instrumentation and control design for a ‘plasma needle’. Here, a commercial start-up initiative is under investigation. This programme was awarded with a STW valorization grant in 2004. Control of nonlinear mechanical systems In the nonlinear control area emphasis lies on (i) controllability and observability of nonsmooth/piecewise linear systems, (ii) stability and stabilization of nonlinear systems and (ii) tracking control of under actuated systems. In the latter case one may think of systems with less independent inputs than degrees of freedom. Typically this includes certain flexibilities in robot-like constructions as well as nonholonomic systems like mobile robots, vehicles and ships. An illustrative example forms the RRR robot with only two actuators active. The H drive set-up has been modified to be able to carry a non-actuated manipulator on the X sledge. The control of the resulting underactuated system turns out to be a challenging problem, on which a number of results have been obtained.


Several fundamental results regarding necessary and sufficient conditions for controllability of piecewise linear systems have been obtained. Also, related results on observability of piecewise linear systems have been derived, and tested on the nonlinear beam in the DCT lab. In the context of stability and stabilization a number of results have been obtained. Among others, a monograph on this has been published jointly with Alexei Pavlov (NTNU, Trondheim, Norway). Hydraulic Servo Systems. With the help of ir. Piet Teerhuis (TUD) we had further progress to consolidate and extend the hydraulic (i.e. Fluid Power) servo technology know-how as formerly present at the TUD. This should lead to a new and active research area, in which our capabilities in advanced motion control are combined with our hydraulic knowledge and lab facilities. A new servo hydraulic mechanism is built and used for education and research. A second, non-linear, multivariable set-up is realised and subject of research. Embedded Systems. Since two years the group participates in ‘Boderc’, an ESI-centered, Senter-TS funded programme. In this research programme on embedded dynamical systems, researchers from Electrical Engineering and Computer Science work together with Mechanical Engineering. The application ‘vehicle’ is an Oce printer. Our role is to apply in our knowledge on embedded real-time control system design and on dynamics of mechanical systems, and to do research on hybrid systems within this framework. It is our vision that the further development of embedded dynamical systems is very important for modern state-of-the-art motion system design. We developed a dedicated motion control course for the TWAIO-OOTI (Ontwerpers Opleiding Technische Informatica) education, including hands-on experimentation. For the near future we foresee further activities with the ESI. In the same spirit we have started with TU/e-wide Robocup activities, in cooperation with the Technical University Delft. Mobile robot structures This research line in the Dynamics & Control Technology Laboratory has been initiated in 2000. Mobile, autonomous structures are very attractive for numerous application areas (space travelling, mail delivery, cleaning, inspections in hazardous environments etc.). Apart from mechanical design issues, these systems exhibit specific control challenges, especially because the systems are often under actuated and accurate measurement information is not available. The aims for this research line are: (i) development of an experimental set-up for validation of (theoretical) non-linear control concepts, (ii) development and validation of non-linear models, controllers, and observers, (iii) development of a representative demonstration object for mobile and under actuated mechanical structures. (iv) development of a test environment of autonomous guided vehicles (AGVs). Upcoming activities in this direction are the participation in Robocup and embedded autonomous robots. Cooperation in this area exists with TNO-Automotive regarding the control and a design of a moving base (AGV) for the TNO-VEHIL lab in Helmond has been made as an MSc. project. Synchronisation of non-linear systems In this project fundamental methods are investigated for the design of synchronising controllers for mechanical systems. Also, the robustness and stability of synchronised controllers are studied. Synchronisation, or co-ordination as it is often called, is relevant in various mechanical systems, for instance in case two or more robots, ships or vehicles are asked to coordinate their motions. As an experimental test-bed the pizza steppers are used. And similarly mobile robots are used for experimental validation. Future research in this field will concentrate on synchronization of mobile robots and AGVs.


Process Control (research area 5) Flow control of turbomachinery The operational flexibility and efficiency of compressors is limited by the occurrence of unstable flow phenomena, in particular rotating stall and surge. Traditional measures to avoid these instabilities, like recycling or bleed, hamper the operational flexibility and efficiency of the compressor. The aim of this project, a co-operation with the Energy Technology group of our department, and with TNO/TPD and Siemens, is to develop an active control strategy based on detailed knowledge of the fluid flow inside the compressor. Results of the project show that active surge control can shift the surge region and thereby enlarge the region of feasible operating points. This is of importance to the power generation process and off-shore industry. Dynamic stabilization of combustion Jointly with the Combustion Technology Group a project on model based control for suppression of acoustic instabilities in gas-fired household boilers and heaters has started. Prelimary experimental result seem promising. Automotive Technology (research area 6) Advanced Power Trains The first project in this area is on accurate and robust control of the torques in power trains. In innovative (hybrid) power trains often mode changes occur. These are to be controlled accurately, in order not to adversely affect drivability and comfort. Therefore, research is focused on gaining superior control over the power train components, leading to optimal drive torque combined with minimal fuel consumption. Power trains often are over-actuated, multi-input-multi-output (MIMO) systems, requiring advanced control techniques. Slip control of CVTs is a new and very promising line of research. A second project concentrates on servomotor based actuation systems (EMPACT). New transmissions, like the CVT and the double clutch transmission, still rely on hydraulic actuation, leading to compromised transmission efficiencies and requiring a complex and expensive hydraulic unit. The third project focuses on validation and test facility development. Power train components are being developed and tested on the available test facilities. Further facilities are developed. Newly developed components are demonstrated in state-of-the-art test vehicles, using modern controllers, so they can be validated under real life conditions. Vehicular Passive Safety Systems The passive safety project, a co-operation with TNO-S&I/Automotive, investigates the possible use of active control (feedback/feedforward) of passive safety components, like airbags and safety belts. Identification techniques have been used to extract simple linear models from available, highly non-linear, extensive, numerical crash models. These linear models have been used to design feedback controllers for the airbag and the belt. Simulations with these controllers, implemented in the complex crash models, showed a significant improvement of the performance of the safety components, i.e. less peak decelerations of the head and the chest of the vehicle occupant. Vehicle Energy Management SystemsTopology Design Research is done on energy management of the as poosed to imcomplete power train, including the design trade-offs for hybrid vehicles with an internal combustion engine and an electromotor. Advanced model-based optimisation methods, like dynamic programming, are used for the off-line generation of optimal trajectories for the variables that dictate the energy supply from the combustion engine and/or the electromotor. Vehicle Dynamics and Tyres


In the beginning of 2005 the first group of Master students in the field of Vehicle Dynamics has been graduated. During the year about 10 students have been working on internal and external (TNO, DAF, LMS, Vredestein) master thesis projects. Several Bachelor projects and internal and external (BMW, DAF, Daimler-Chrysler, Goodyear, Intec) traineeships have been performed. The courses "Vehicle Dynamics" and "Advanced Vehicle Dynamics" have been attended well, about 80+ and 30+ students, respectively. For the course "Orientation in Automotive Technology" lecture notes have been written. In the AES lab the Flat Plank Tyre Tester has been used for various experiments (e.g. motorcycle tyre measurements, stiffness measurements, cleat tests). A four wheel steered vehicle has been obtained from TNO and several students have been working on this vehicle to design a suitable controller. The Tyre Measurement Tower with strain gauge measuring hub has been obtained from Delft University of Technology and work has been done to get the Tyre Measurement Tower and large drum facility in the AES lab operational. This work will continue in 2006. Research has been done in three main areas: tyre modelling, truck modelling and vehicle control. In December the first PhD project has been started on active cabin suspension. This project is a joint research project with TNO and DAF. Finally, for the TUE Formula Student Racing Team a multibody vehicle model has been built that is used as a tool for designing the 2006 racing car. Mechanical Design (research area 7) The mechanical design group C&M from the C&M lab is involved in 8 PhD projects directly, such as the EMPACT project (see 6.2), and the Gaia project. There is a project for design of a fast measurement machine with nanometer capability. As a successor to the Zeiss F25, a commercial startup is made within this Nano CMM. Furthermore, there is a project to design a measurement machine with nanometer accuracy for free form optics. Also a project on adaptive optics is running, addressing the complexity question as well as design issues. This is done together with TNO and the Technische Universiteit Delft (TUD). A Nanoned design project with NMI for a metrologic AFM. New activities concentrate on medical robotics, in particular on minimally invasive robotic surgery systems. Further designs for experimental set-ups were made for PhD projects on drill string with vibrations, synchronisation of robots, dynamic stability of thin structures, friction in the Loop controlled mechanisms, turbulent flow velocity measurement, Biomedical applications. Master thesis project designs for instruments & machinery: motion system for flat structures, Vehil Moving base, Robot Eye, Mars robotics, Optical nm probe, mirror actuation system, plate-press 400T 7 m, Hydraulic Spreader, Large printer design, Hydraulic Robot for off-shore platform removal, Material tester ASML. Also technical advising on mechanical design and engineering for industry and Institutes was done...


3.10 Membership editorial boards international journals

Prof.Dr.Ir. D.H. van Campen: • Contributing Editor Multibody Systems Dynamics • Member Advisory Board Nonlinear Dynamics Dr.Ir A.G. de Jager • Associate Editor IEEE Trans. On Control Systems Technology

Prof.Dr. H. Nijmeijer: • Editor in Chief Journal of Applied Mathematics • Associate editor AUTOMATICA • Corresponding editor SIAM J Control Optimization • Subject editor International J. of Robust and Nonlinear Control • Member Editorial Board J. of Applied Mathematics Computer Science • Member Editorial Board J. of Dynamical Control Systems • Member Editorial Board International J. of Control • Member Editorial Board J. of Stability and Control • Member Editorial Board European Journal of Control Prof.Dr.Ir. M. Steinbuch: • Editor-at-Large European Journal of Control Prof.Dr.Ir. J.W. Verheij: • Member Editorial Board Int. Journal of Acoustics and Vibration • Member Editorial Board of E-mail Noise and Vibration Digest • Member Editorial Board Handbook of Noise and Vibration Control (to be published

by John Wiley & Sons, New York)

3.11 Keynote & general lectures; seminars (duration ~ 40 min. or more) Prof.Dr. H. Nijmeijer: Synchronization/coordination in mechanical systems; 2005 International Symposium

on Nonlinear Theory and its Applications (NOLTA), October 18-21, Brugge, Belgium. Prof.Dr.Ir. M. Steinbuch: • Advanced Motion Control. Plenary talk and the Advanced Process control

Workshop, Vancouver Canada, may 2005

3.12 Membership of international scientific committees

Prof.Dr.Ir. D.H. van Campen: • Secretary-General of the International Union on Theoretical and Applied Mechanics

(IUTAM) since November 2000. • Council member Dutch Technology Foundation (STW) since 1993. • Chairman Board Netherlands Research School on Engineering Mechanics. • Member EUROMECH Nonlinear Oscillation Conference Committee since 2000. Prof.Dr. H. Nijmeijer: • Member Board Dutch Institute of Systems and Control (DISC) • Member EU Marie Curie Network ‘Control Training Site’ • Member EU Marie Curie Network ‘MASTER’ • Member of various International Program Committees • Member EU project HYCON (Hybrid Control)


Prof.Dr.Ir. M. Steinbuch: • Chairman of the Danish Research Programme WAVES (2001-2005). • Member Board of the European Association of Control

Prof.Dr.Ir. J.W. Verheij: • President of The Acoustic Society of the Netherlands. • Secretary of the International Institute of Acoustics and Vibration • Scientific Advisory Board member of The Maritime Research Institute of The

Netherlands.

3.13 Awards and patents

Awards:

“Corus Jong Talent afstudeerprijs” Award for Ir. T. Oomen for his work on Optimal digital control of high-precision electromechanical servo systems. November 24, 2005.

KIVI-MBST-“Regeltechniekprijs” 2005 was awarded to Ir. E.H. Pastink for his MSc thesis “Stability and performance of a variable gain controlled optical storage drive”. Ir. H. Pastink also received the Unilever Research prize for his MSc. Thesis.

Patents: B. Bonsen, Control Method for a Continuously Variable Transmission, Patent: WO 2005/088171 A1 (2005) R.F.M.M. Hamelinck, P.C.J.N. Rosielle, Actuator, Patent: 1029504 (2005) I. Rotariu, R.M.L. Ellenbroek, M. Steinbuch, G.E. van Baars, Method of adaptive interactice learning control and Apparatus employing such a methodol and a Lithographic Manufacturing, Patent: 43834 (2005)

3.14 PhD theses

N. Mihajlovic, Torsional and Lateral Vibrations in Flexible Rotor Systems with Friction, PhD. Thesis, 2005, Eindhoven University of Technology Advisors: H. Nijmeijer, D.H. van Campen Co-advisor: N. van de Wouw

3.15 Academic publications

Refereed journals: Belykh, M. Hasler, M. Lauret, H. Nijmeijer, Synchronization and graph topology, Int. Jnl. Bifurcation and Chaos, 15(11), 3423-3433, (2005) I.J.M. Besselink, A.J.C. Schmeitz, The MF-Swift tyre model: extending the Magic Formula with rigid ring dynamics and an enveloping model, JSAE review, 26(2), 245-252, (2005) I.J.M. Besselink, experiences with the TYDEX standard tyre interface and file format, Vehicle System Dynamics, 43s, 63-75, (2005) J. de Boeij, M. Steinbuch, H. Gutiérrez, Modeling the Electromechanical Interactions in a Null-Flux EDS Maglev System, IEEE Trans. on Magnetics, 41(1), 466-470, (2005) J. de Boeij, M. Steinbuch, H. Gutiérrez, Mathematical Model of the 5-DOF Sled Dynamics of an


Electrodynamic Maglev System with a Passive Sled, IEEE Trans. on Magnetics, 41(1), 460-465, (2005) B. Bonsen, T.W.G.L. Klaassen, R.J. Pulles, S.W.H. Simons, M. Steinbuch, P.A. Veenhuizen, Performance optimization of the push-belt CVT by variator slip control, Int. J. of Vehicle Design, 39(3), 232-256, (2005) B.H.M. Bukkems, D. Kostic, A.G. de Jager, M. Steinbuch, Learning-Based Identification and Iterative Learning Control of Direct-Drive Robots, IEEE Trans. on Control Systems Techn., 13(4), 537-549, (2005) A.J. den Hamer, G.Z. Angelis, N.B. Roozen, Broad-band Active Vibration Suppression using PPF focussed on industrial application, IEEE Trans. on Mechatronics, 10(2), 146-153, (2005) M.F. Heertjes, F. Cremers, M. Rieck, M. Steinbuch, Nonlinear dynamic servo control for optical storage drives with improved shock performance, Control Engineering Practice, 13(10), 1295-1305, (2005) J. van Helvoirt, M. Steinbuch, G.A.L. Leenknegt, H.J. Goossens, Dis defect classification for optical disc drives, IEEE Trans. on Consumer Electronics, 51(3), 856-863, (2005) A.G. de Jager, R.E. Skelton, Input-Output Selection for Planar Tensegrity Models, IEEE Trans. on Control Systems Techn., 13(5), 778--785, (2005) S.T.H. Jansen, L. Verhoeff, R. Cremers, A.J.C. Schmeitz, I.J.M. Besselink, MF-swift simulation study using benchmark data, Vehicle System Dynamics, 43s, 92-101, (2005) I.E. Kieft, R.E.J. Sladek, E.P. van der Laan, E. Stoffels-Adamowicz, Atmospheric plasma needle for biomedical applications, Polish J. of Appl. Chemistry, , (2005) M.W.T. Koot, J.T.B.A. Kessels, A.G. de Jager, W.P.M.H. Heemels, P.P.J. van den Bosch, M. Steinbuch, Energy Management Strategies for Vehicular Electric Power Systems, IEEE Trans. on Vehicular Technology, 54(3), 771-782, (2005) D. Kostic, A.G. de Jager, M. Steinbuch, Discussion on: “Uniform parametric Convergence in the Adaptive Control of Mechanical Systems”, European J. of Control, 11(2), -, (2005) P.F. Lambrechts, M.L.G. Boerlage, M. Steinbuch, Trajectory planning and feedforward design for electromechanical motion systems, Control Engineering Practice, 13(2), 145-157, (2005) M.J.G. van de Molengraft, M. Steinbuch, A. de Kraker, Integrating Experimentation into Control Courses at the Technische Universiteit Eindhoven, IEEE Control Systems Magazine, 25(1), 40-44, (2005) H. Nijmeijer, D.H. van Campen, Guest Editorial, Int. Jnl. Bifurcation and Chaos, 15(9), 2701, (2005) S.P.M. Noijen, P.F. Lambrechts, H. Nijmeijer, An observer-controller combination for a unicycle mobile robot, Int. J. of Control, 78(2), 81-87, (2005) T. Oguchi, H. Nijmeijer, Prediction of Chaotic Behavior, IEEE Trans. on Circuits and Systems I, 52(11), 2464-2472, (2005) A. Pavlov, N. van de Wouw, H. Nijmeijer, The local approximate output regulation problem: convergence region estimates, Int. J. of Robust and Nonlinear Control, 15(1), 1-13, (2005) P.A. Veenhuizen, B. Bonsen, T.W.G.L. Klaassen, K.G.O. van de Meerakker, H. Nijmeijer, F.E. Veldpaus, Simulated behavior of a vehicle with V-belt type geared neutral transmission with variator slip control, J. of Automobile Engineering - Part D, 219(5), 1, (2005) F. ter Veld, R.P.H. Faassen, K. Nicolay, Mitochondrial affinity for ADP is twofold lower in creatine kinase knock-out muscles. Possible role in rescuing cellular energy homeostasis, FEBS J., 272, 956-965, (2005) T.A. Vijlbrief, A.F.A. Serrarens, M. Steinbuch, Non-linear feedback control of the ZI powertrain, Int. J. of Vehicle Design, 39(3), 257-271, (2005) N. van de Wouw, M.N. van den Heuvel, J. van Rooij, H. Nijmeijer, Performance of an Automatic Ball Balancer with Dry Friction, Int. Jnl. Bifurcation and Chaos, 15(1), 65--82, (2005)


Refereed proceedings:

W.H.T.M. Aangenent, D. Kostic, A.G. de Jager, M.J.G. van de Molengraft, M. Steinbuch, Data-Based Optimal Control, in American Control Conference 2005; Editors: ACC, Portland, Oregon, United States, CDROM, (2005) W.H.T.M. Aangenent, M.J.G. van de Molengraft, M. Steinbuch, Nonlinear Control of a Linear Motion System, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) P. Albers, P.A. Veenhuizen, Fuel Economy Benefits of Advanced Techniques for CVT Actuation and Control, in Proc. EAEC; Editors: C. Duboka, Belgrade, Yugoslavia, ., (2005) L.J.M. van den Bedem, P.C.J.N. Rosielle, R.J.W. Knaapen, M.M.P.A. Vermeulen , Concept design of a manually adjustable intuitive toolholder, in euspen 2005; Editors: ?, Montpellier, France, 4, (2005) L.J.M. van den Bedem, R.E.J. Sladek, M. Steinbuch, E. Stoffels-Adamowicz, Plasma treatment of S. mutans biofilms cultured in a simulated dental cavity model, in XXVII International Conference on Phenomena in Ionized Gases 2005 (ICPIG 2005); Editors: ?, Koningshof, Veldhoven, Netherlands, 4, (2005) M.L.G. Boerlage, M. Steinbuch, G.Z. Angelis, Frequency response based multivariable control design for motion systems, in Conference on Control Applications; Editors: ., Toronto, Canada, ., (2005) A.K. Bondhus, K.Y. Pettersen, H. Nijmeijer, Master-Slave synchronization of robot manipulators: experimental results, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) B. Bonsen, R.J. Pulles, S.W.H. Simons, P.A. Veenhuizen, M. Steinbuch, Implementation of a slip controlled CVT in a production vehicle, in Conference on Control Applications; Editors: IEEE, Toronto, Canada, -, (2005) B. Bonsen, P.A. Veenhuizen, M. Steinbuch, CVT ratio control strategy optimization, in VPPC; Editors: IEEE, Chicago, United States, -, (2005) B. Bonsen, M. Steinbuch, P.A. Veenhuizen, LPV Control of slip in a pushbelt-type variator , in VDI Berichte 1917; Leonberg b. Stuttgart, Germany, 307-320, (2005) J.D.B.J. van den Boom, I. Lopez, K.R.A.M. Schreel, L.P.H. de Goey, H. Nijmeijer, Linear Control Strategies for the Suppression of Flame Instabilities, in Proceedings of the European Combustion Meeting 2005; Editors: J. Vandooren, Louvain-la-Neuve, Belgium, Paper 192, (2005) J.D.B.J. van den Boom, I. Lopez, K.R.A.M. Schreel, L.P.H. de Goey, H. Nijmeijer, Towards active suppression of thermo-acoustics instabilities in laminar combustion, in Proceedings of the Twelfth International Congress on Sound and Vibration; Editors: J.L. Bento Coelho and D. Alarcão, Lisbon, Portugal, CD-Rom, (2005) D.J.H. Bruijnen, M.J.G. van de Molengraft, A.A. Draad, T. Heeren, Productivity Analysis of a Scanning Inkjet Printer, in NIP21: International Conference on Digital Printing Technologies; Editors: IS&T, Baltimore , United States, CDROM, 6p. (2005) M.K. Camlibel, I. Ustoglu, Feedback linearization of piecewise linear systems, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) M. di Bernardo, M.K. Camlibel, Structural stability of boundary equilibria in a class of hybrid systems, in Proc. of the 44th IEEE Conference on Decision and Control; Sevilla, Spain, CD ROM, (2005) A. Doris, A.L.. Juloski, W.P.M.H. Heemels, N. van de Wouw, H. Nijmeijer, Switching Observer Design for an Experimental Piece-wise Linear Beam System, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) A. Doris, N. van de Wouw, H. Nijmeijer, Disturbance Attenuation For A Periodically Excited Piece-Wise Linear Beam System, in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) J.A.W.M. van Eekelen, A.A.J. Lefeber, B.J.P. Roset, H. Nijmeijer, J.E. Rooda, Control of Manufacturing Systems Using State Feedback and Linear Programming, in Proceedings of the 44th IEEE Conference on Decision and Control and 2005 European Control Conference; Sevilla, Spain, 4652-4657, (2005)


R.P.H. Faassen, N. van de Wouw, J.A.J. Oosterling, H. Nijmeijer, Updated tool path modelling with periodic delay for chatter prediction in milling., in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) C. Germay, N. van de Wouw, R. Sepulchre, H. Nijmeijer, Axial Stick-slip Limit Cycling in Drill-string Dynamics with Delay, in in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) M. Graham, R.J.M. Oosterbosch, R.A. de Callafon, Fixed order PQ control design method for dual stage instrumented suspension, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) M.B. Groot Wassink, N.J.M. Bosch, O.H. Bosgra, S. Koekebakker, Enabling higher jet frequencies for an inkjet printhead using Iterative Learning Control, in IEEE Conference on Control Applications; Editors: IEEE, Toronto, Canada, CDROM, 6p., (2005) R.F.M.M. Hamelinck, P.C.J.N. Rosielle, M. Steinbuch, N. Doelman, Large adaptive deformable mirror; design and first prototypes, in SPIE Optics & Photonics 2005; Advanced Wavefront Control: Methods, Devices, and Applications III; San Diego, United States, 8, (2005) R.F.M.M. Hamelinck, P.C.J.N. Rosielle, M. Steinbuch, N. Doelman, Large adaptive deformable membrane mirror with high actuator density: design and first prototypes, in 5th International workshop on Adaptive Optics for Industry and Medicine; Beijing, China, 12, (2005) A.J. den Hamer, G.Z. Angelis, M.J.G. van de Molengraft, A practical Loop-shaping Approach for Pole-placement in mechatronic Systems , in CCA 05; Toronto, Canada, ?, (2005) M.F. Heertjes, F. Cremers, M. Steinbuch, An experimental demonstration of NPID control with application to optical storage drives, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) J. van Helvoirt, O.H. Bosgra, A.G. de Jager, M. Steinbuch, Approximate realization of valve dynamics with time delay, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) J. van Helvoirt, A.G. de Jager, M. Steinbuch, J.P.M. Smeulers, Modeling and identification of centrifugal compressor dynamics with approximate realizations, in 2005 IEEE Conf. on Control Applications; Editors: IEEE, Toronto, Canada, 1441-1447, (2005) J. van Helvoirt, O.H. Bosgra, A.G. de Jager, M. Steinbuch, Approximate realization with time delay, in 2005 IEEE Conf. on Control Applications; Editors: IEEE, Toronto, Canada, 1534-1539, (2005) J.J.M. van Helvoort, A.G. de Jager, M. Steinbuch, Unfalsified Control using an Ellipsoidal Unfalsified Region applied to a Motion System, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) R. Henselmans, P.C.J.N. Rosielle, M. Steinbuch, I.J. Saunders, Nanometer Accuracy Non-contact Measurement of Free-form Optical Surfaces, in Philips Precision Technology Conference 2005; Editors: H.W.A. Janssen, Hilvarenbeek, Netherlands, 117 - 121, (2005) R. Henselmans, P.C.J.N. Rosielle, M. Steinbuch, I.J. Saunders, Design of a machine for the universal non-contact measurement of large free-form optics with 30 nm uncertainty, in Optical manufacturing and testing VI; Editors: H. Philip Stahl, San Diego, United States, 586919-1 to 12, (2005) T. Hofman, R.M. van Druten, Concept design for hybrid vehicle power systems, in American Control Conference; Editors: AACC, Portland, Oregan, United States, 5, (2005) T. Hofman, R.M. van Druten, A.F.A. Serrarens, J. Baalen, A fundamental case study on the IMA and Prius drivetrain concepts, in 21th Electrical Vehicle Symposium; Editors: AVERE, Monaco, France, 12, (2005) T. Hofman, D. Hoekstra, R.M. van Druten, M. Steinbuch, Optimal design of energy accumulator systems for hybrid vehicle powertrains, in IEEE-Vehicle Propulsion and Power Conference; Editors: IEEE-VPP, Illinois Institute of Technology, Chicago, United States, 5, (2005) J.T.B.A. Kessels, M.W.T. Koot, A.G. de Jager, P.P.J. van den Bosch, Energy Management for Vehicle Power Net with Flexible Electric Load Demand, in Conference on Control Applications; Toronto, Canada, 6,


(2005) T.W.G.L. Klaassen, B. Bonsen, K.G.O. van de Meerakker, B.G. Vroemen, P.A. Veenhuizen, M. Steinbuch, Dynamic analysis of the Empact CVT, in Dynamik und Regelung von Automatischen Getrieben; Editors: VDI, Leonberg bei Stuttgart, Germany, CDROM, (2005) M.W.T. Koot, J.T.B.A. Kessels, A.G. de Jager, Energy management in a vehicle with a dual storage power net, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) M.W.T. Koot, J.T.B.A. Kessels, A.G. de Jager, Fuel Reduction of Parallel Hybrid Electric Vehicles, in IEEE Vehicle Power and Propulsion Conference; Chicago, IL, United States, 6, (2005) R.I. Leine, D.H. van Campen, Stick-slip Whirl Interaction in Drillstring Dynamics, in IUTAM Symposium on Chaotic Dynamics and Control of Systems and Processes in Mechanics; Editors: G. Rega and F. Vestroni, Rome, 8-13 June 2003, Italy, 287-296, (2005) I. Lopez, H. Nijmeijer, How important is the friction model on the modeling of energy dissipation, in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) I. Lopez, N.B. Roozen, H. Nijmeijer, R.E.A. Blom, Modeling the vibrations of a rotating tyre: a modal approach, in Forum Acusticum; Editors: EAA, Budapest, Hungary, CD Rom, (2005) N.J. Mallon, R.H.B. Fey, G.Q. Zhang, H. Nijmeijer, Drop-Shock Stability of a Thin Shallow Arch Considering the Effects of Variations in Shape, in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) R.J.E. Merry, M.J.G. van de Molengraft, M. Steinbuch, Disturbances and model uncertainties in Iterative Learning Control, in 4th International Workshop on Multidimensional (nD) Systems (NDS 2005); Editors: K. Galkowski, A. Kummert, E. Rogers and J. Velten, Wuppertal, Germany, 136-141, (2005) R.J.E. Merry, M.J.G. van de Molengraft, M. Steinbuch, The influence of disturbances in iterative learning control, in Proc. of IEEE CCA; Toronto, Canada, 974-979, (2005) C. Metsenaere, P.A. Veenhuizen, G.A. Commissaris, T.W.G.L. Klaassen, J.H. Nelissen, J. van Rooij, Modeling, Simulation and Control of a Power Loop Test-Rig Continuously Variable Transmissions, in Proc. EAEC; Editors: C. Duboka, Belgrade, Yugoslavia, ., (2005) N. Mihajlovic, N. van de Wouw, M.P.M. Hendriks, H. Nijmeijer, Friction-induced Vibrations in an Experimental Drill-string System for Various Friction Situations, in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) S.P.M. Noijen, R.H.B. Fey, N.J. Mallon, H. Nijmeijer, G.Q. Zhang, New Results in Steady-State Analysis of a Transversally Excited, Buckled Beam, in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) P.W.J.M. Nuij, M. Steinbuch, Two techniques for measuring Higher Order Sinusoidal Input Describing Functions., in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) T. Oguchi, H. Nijmeijer, State prediction based on synchronization and an application, in SICE Annual Conference on Control Systems; Editors: SICE, Sendai, Japan, 433-436, (2005) T. Oguchi, H. Nijmeijer, Control of non-linear systems with time-dealy using state predictor based on synchronization, in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) A. Pavlov, A.Y. Pogromsky, N. van de Wouw, H. Nijmeijer, The Uniform Global Output Regulation Problem for Discontinuous Systems, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) A. Pavlov, A.Y. Pogromsky, N. van de Wouw, H. Nijmeijer, On Convergence Properties of Piece-wise Affine


Systems, in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) A.V. Pavlov, N. van de Wouw, H. Nijmeijer, Convergent piecewise affine systems: analysis and design Part I: continuous case, in Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference ECC; Editors: IEEE, Sevilla, Spain, on CDROM, (2005) A.V. Pavlov, A.Y. Pogromsky, N. van de Wouw, H. Nijmeijer, J.E. Rooda, Convergent piecewise affine systems: analysis and design Part II: discontinuous case, in Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference ECC; Editors: IEEE, Sevilla, Spain, on CDROM, (2005) A.V. Pavlov, B.R.A. Janssen, N. van de Wouw, H. Nijmeijer, Experimental Output Regulation for theTORA System, in Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference; Editors: IEEE, Sevilla, Spain, on CDROM, (2005) A.V. Pavlov, A.Y. Pogromsky, N. van de Wouw, H. Nijmeijer, The uniform global output regulation problem for discontinuous systems, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) R.J. Pulles, B. Bonsen, P.A. Veenhuizen, M. Steinbuch, Slip controller design and implementation in a Continuously Variable Transmission, in 2005 American Control Conference; Editors: IEEE, Portland, Oregon, United States, -, (2005) B.J.P. Roset, H. Nijmeijer, J.A.W.M. van Eekelen, A.A.J. Lefeber, J.E. Rooda, Event driven manufacturing systems as time domain control systems, in Proceedings of the 44th IEEE Conference on Decision and Control and 2005 European Control Conference; Sevilla, Spain, 446-451, (2005) N. Ruty, J. Cisonni, X. Pelorson, A. Van Hirtum, I. Lopez, A. Hirschberg, Experimental validation of some additional issues in physical vocal folds models, in Forum Acusticum; Editors: EAA, Budapest, Hungary, CD Rom, (2005) P.L.W. Scheijgrond, D.X.Q. Shi, W.D. van Driel, G.Q. Zhang, H. Nijmeijer, Digital Image Correlation or Analyzing Portable Electronic Products during Drop Impact Tests, in 6th International Conference on Electronics Packaging Techn.; Editors: ??, Shenzhen, China, 6, (2005) A.J.C. Schmeitz, I.J.M. Besselink, J. de Hoogh, H. Nijmeijer, Extending the Magic Formula and SWIFT tyre models for inflation pressure changes, in Reifen, Fahrwerk, Fahrbahn; Editors: B. Wies, H. Wallentowitz, e.a., Hannover, Germany, 201-225, (2005) M.G.E. Schneiders, J. Makarovic, M.J.G. van de Molengraft, M. Steinbuch, Design considerations for electromechanical actuation in precision motion systems, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005) R. Scholte, N.B. Roozen, I. Lopez, On spatial sampling and aliasing in acoustic imaging, in Proceedings of the Twelfth International Congress on Sound and Vibration, 11-14 July 2005; Editors: J. L. Bento Coelho and D. Alarcão, Lisbon, Portugal, CD-Rom, (2005) R. Scholte, N.B. Roozen, I. Lopez, Regularization in PNAH by means of L-curve, in Proceedings of Forum Acusticum 2005; Budapest, Hungary, CD-Rom, (2005) J.K. van Seggelen, P.C.J.N. Rosielle, P.H.J. Schellekens, H.A.M. Spaan, R. Bergmans, An Elastically Guided Machine Axis with Nanometer Repeatability, in CIRP 2005; Editors: **, Antalya, Turkey, **, (2005) R. van der Steen, H. Nijmeijer, Output based control for an underactuated system: experimental results, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005)) M. Steinbuch, J.J.M. van Helvoort, W.H.T.M. Aangenent, A.G. de Jager, M.J.G. van de Molengraft, Data-based control of motion systems, in IEEE Conf. On Control Applications; Editors: IEEE, Toronto, Canada, CDROM, 6p., (2005) M. Steinbuch, Advanced Motion Control, in IEEE Advanced Process Control Applications for Industry Workshop APC 2005; Editors: IEEE, Vancouver, Canada, ., (2005) A.A. van Veggel, P.C.J.N. Rosielle, H. Nijmeijer, A.A. Wielders, H.J.P. Vink, Design of a basic angle monitoring system in Silicon Carbide, in Proceedings of Symposium "The Three Dimensional Universe with GAIA" (ESA SP-576); Editors: C. Turon, K.S. O'Flaherty, M.A.C. Perryman, Observatoire Meudon, Paris,


France, 475-478, (2005) A.A. van Veggel, W.J. Berkhout, M.K. Schalkx, A.A. Wielders, P.C.J.N. Rosielle, H. Nijmeijer, Experimental evaluation of the stability and mechanical behavior of contacts in Silicon Carbide for the design of the basic angle monitoring system of GAIA, in European Conference on Spacecraft Structures, Materials and Mechanical Testing 2005; Editors: Karen Fletcher, Noordwijk, Netherlands, paper 158, (2005) A.A. van Veggel, A.A. Wielders, H. Brug, van, P.C.J.N. Rosielle, H. Nijmeijer, Experimental set-up for testing alignments and measurement stability of a metrology system in Silicon Carbide for GAIA, in SPIE proceedings 5877 Optomechanics 2005; Editors: Alson E. Hatheway, San Diego, California, United States, 1-12, (2005) J.J.M. van de Wijdeven, A.G. de Jager, Shape change of tensegrity structures: design and control, in American Control conference 2005; Portland, OR, United States, 2522-2527, (2005) N. van de Wouw, R.I. Leine, Stability Properties of Equilibrium Sets of Controlled Linear Mechanical Systems with Dry Friction, in Proceedings of the 5th EUROMECH Nonlinear Dynamics Conference (ENOC); August 7-12, Editors: D.H. van Campen, M.D. Lazurko, W.P.J.M. van den Oever, Eindhoven, Netherlands, on CDROM, (2005) N. van de Wouw, N. Mihajlovic, H. Nijmeijer, Friction-Induced Limit Cycling In Flexible Rotor Systems: An Experimental Drill-String System, in Proceedings of IDETC/CIE ASME 2005 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference; Editors: H.R. Hamidzadeh, D.E. Lee, A.C.J. Luo, Long Beach California, United States, on CDROM, (2005) N. van de Wouw, R.I. Leine, Dry Friction Induced Attractivity Of Equilibrium Sets In Mechanical Multibody Systems, in Proceedings of IDETC/CIE ASME 2005 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference; Editors: H.R. Hamidzadeh, D.E. Lee, A.C.J. Luo, Long Beach California, United States, on CDROM, (2005) N. van de Wouw, R.I. Leine, H. Nijmeijer, Controlling attractivity of friction-induced equilibrium sets, in Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference; Seville, Spain, 2610--2615, (2005) G.M. van der Zalm, R. Huisman, M. Steinbuch, Experimental frequency-domain method for control design in heavy-duty vehicles, in 16th IFAC World Congress; Editors: P. Horacek, M. Simandl, P. Zitek, Prague, Czech Republic, 6, (2005)

Book

A.V. Pavlov, N. van de Wouw, H. Nijmeijer, Uniform Output Regulation of Nonlinear Systems, Birkhauser, ISBN 0-8176-4445-8 (2005)

Book chapters

M.K. Camlibel, W.P.M.H. Heemels, A.J. van der Schaft, J.M. Schumacher, Modelling, well-posedness, and stability of switched electrical networks, in Hybrid Systems: Computation and Control, LNCS 2623; Editors: O. Maler and A. Pnueli, 249-266, Springer, Book Chapter ISBN (2005) A. Pavlov, N. van de Wouw, H. Nijmeijer, Convergent systems: analysis and synthesis, in Control and Observer Design for Nonlinear Finite and Infinite Dimensional Systems. Lecture Notes in Control and Information Sciences, vol. 322; Editors: T.Meurer, K.Graichen and D.Gilles, 131-146, Springer, Book Chapter ISBN 3540279385 (2005)

3.16 Overview of research input and output


Research input Sources of financing1 Total 1 2 3 number fte Senior academic staff 19 19 5.5 Supporting staff 10 10 PhD 6 5 25 36 23.8 Postdocs 3 1 4 1.6 Total 38 6 25 69 30.9

1 Sources of financing: 1: University 2: STW, SON, NWO, FOM, EM 3: Industry, TNO, Brite-Euram, Nuffic, Min. Econ. Affairs, etc. 2 No research input involved for supporting staff. 3 Research input per PhD per year: 0.8 fte 4 No research input involved for Twaio-students because they perform a designers progamme

Research output

Total Scientific publications: refereed journals and Books 28 Scientific publications: refereed proceedings 78 PhD theses 1

3.17 Special Activities

The 6 day PATO course ‘Motion Control Tuning’ was organized twice this year, jointly with the Delft Center for Systems and Control. Since the interest from industry is encouraging, we continue to give this course every year. A new 4 day PATO course ‘Advanced Motion Control’ was organized this year, jointly with the Delft Center for Systems and Control. The course focuses on multivariable control of motion systems.


4. INTERNAL REPORTS 2005

2005.01 Annual Report 2004 L. Neervoort 2005.02 Modelling tyre vibrations – a modal approach.

Master’s Thesis R.E.A. Blom

2005.03 Rollover avoidance by active braking. Traineeship.

A.H.J.A. Martens

2005.04 Modeling for control of a biomass gasifier. Traineeship

T. Paes

2005.05 Design study of the Geared Neutral CVT. Traineeship

G.J.C.M. Arts

2005.06 Adaptive friction compensation of an inertia supported by MoS2 solid-lubricated bearings. Traineeship.

N.J.M. van Dijk

2005.07 Application of a dynamic vibration absorber to a piecewise linear beam system under pre-tension. Traineeship.

J.C.A. de Bruin

2005.08 System condition monitoring via data evaluation. Traineeship

L. Peeters

2005.09 Wafer handling double sided processed wafers. Master’s Thesis

R. Hendrix

2005.10 Iterative SISO Feedback Design For an Active Vibration Isolation System. Traineeship

A. Lugungu Ya Zenga

2005.112 Data-based Pole-placement by Manual Loop-shaping

A.J. den Hamer

2005.12 DCT Meeting Lia Neervoort 2005.13 TUBTRAX Divert merge. Experimentation and

redesign to improve the pop-up unit of the divert merge system. Traineeship

S. Aben

2005.14 An elastance-based control scheme for a heart valve tester. Master’s Thesis

L.H.M. van Gerven

2005.15 Conditioning the high-frequency signala in a DVD player. Traineeship

J.A.H.v.d. Heijning

2005.16 Design and engineering of a Mobile Intensive Care Unit for pediatric interhospital transport. Master’s Thesis

P. Kolijn

2005.17 The Coffee Roast Process. Traineeship J. De Wit 2005.18 Design of a CVT Test Rig. Traineeship M.F. Oudijk 2005.19 Design considerations for the new in-line

TUBTRAX® unloader coupling unit. Traineeship A. van Berkum

2005.20 ILC implementation on the dieobunder ADAT. Traineeship

J.J.T.H. de Best

2005.21 Modeling, Simulation and Control of a Power Loop Test Rig for Continuously Variable Transmissions. Master’s Thesis

C. De Metsenaere

2005.22 CVT concept design for large road-vehicles. Traineeship.

M.F.A. Lammers

2005.23 Fuel Economy Benefits of Advanced Techniques for CVT Actuation and Control. Master’s Thesis

P.H.W.M. Albers

2005.24 Feasibility study for the AR-CVT concept within the CS-PTO application. Traineeship

J.H.V. den Ouden

2 Report not received


2005.25 Nonlinear Dynamic Analysis of a Structure with a Friction-Based Seismic Base Isolation System. Master’s Thesis

H.M.R. Suy

2005.26 Series Hybrid Powertrain Optimization and Control. Master’s Thesis

M.B. Arnolds

2005.27 Stationary Resonances of Optical Discs; Geometry-induced Excitation. Master’s Thesis

R.M.C. Mestrom

2005.283 Design of a test bench for measuring oil churning losses

P.F.M. Noben

2005.29 Inter Sheet Spacing Control in a Copier Paperpath. Traineeship

N.A.M. Weel

2005.30 Halobject manual part 1. Internal report R.H.M. Solberg and R.J.M. de Jong

2005.31 ATV Control: regulating a 4WD/4WS autonomous guided vehicle. Master’s Thesis

J. Boot

2005.32 Schakelsysteem voor een Raceauto. Traineeship J.H. Rutten 2005.33 Platform Removal in the North Sea. Master’s

Thesis A.J.T. Buijsse

2005.34 Design of the gered neutral testrig. Traineeship G. Peters 2005.35 Evaporative batch crystallization model validation

and linearization for Model Predictive Control. Traneeship

P. Tijl

2005.36 Control of Chaotic Dynamical Systems using OGY. Traineeship

G. Witvoet

2005.37 Investigating Dynamic Tyre Model Behaviour. Master’s Thesis

R. Cremers

2005.384 Realisation of a lost foam foundry Mark Baggen 2005.39 Modelling damping in linear dynamic systems

Bachelor project C.J. Rijlaarsdam

2005.40 Multi-loop Linkage Dynamics via Geometric Methods: A Case Study on a RH200 Hydraulic Excavator. Traineeship

B.R.A. Janssen, M.M.J. Nievelstein

2005.41 Output Regulation For a Nonlinear Mechanical System: From Design to Experiments. Master’s Thesis

B.R.A. Janssen

2005.42 Evaluation of mixed integer nonlinear optimization programming routines

Jeroen de Wit

2005.43 Extension of the geared neutral model. Traineeship

S. Rodermond

2005.44 The tangential stiffness of the moving pulley halve of a CVT. Traineeship

A. Mauritz

2005.45 Optimal Digital Control of High-Precision Electromechanical Servo Systems: Concepts and Applications. Master’s Thesis

T.A.E. Oomen

2005.46 Implementing inflation pressure and velocity effects into the Magic formula tyre model. Master’s Thesis

J. de Hoogh

2005.47 Optimization of a cleat profile for a test rig. Traineeship

B. Besselink

2005.48 Parametervariatie bij het Chua circuit. Bachelor Project

J.A.G. Wouters

2005.49 Het gedrag van een negatieve weerstand voor C.H. Criens

3 Report not received 4 Report not received


een Chua circuit. Bachelor Project 2005.50 Building a Modular Character for the Halobject.

Traineeship K. van der Molen

2005.51 Research on the vehicle dynamics of a loaded vehicle. Traineeship

H.E. Schouten

2005.52 Controller Design for the Rankine Compression Gas cycle. Master’s Thesis

M.H.J. Cuijpers

2005.53 Wavelet Theory and Applications. Literature study

R.J.E. Merry

2005.54 Iterative Learning Control with Wavelet Filtering. Master’s Thesis

R.J.E. Merry

2005.55 Medical Robotics: a brief overview R. van der Put 2005.56 Design of a New Transmission Concept. Master’s

Thesis J. Rutten

2005.575 Development of a design flow chart of a wet plate brake/clutch

T.J. Veldhuizen

2005.58 Modelling and Coordinated Control of Advanced Automotive Transmissions. Master’s Thesis

J. Kusters

2005.59 Performance evaluation of a Liebherr 996 hydraulic shovel. Traineeship

T. Kemps

2005.60 Measuring a Frequency Response Function using Embedded Control Software. Traineeship

S.C. Elling

2005.61 Slip measurement and control in a cone ring transmission. Traineeship

C.H. Jans

2005.62 Chatter detection in high-speed milling. Bachelor Eindproject.

F.B.J.W.M. Hendriks

2005.63 Modelling, Identification and Multivariable Control of an Active Vibration Isolation System. Master’s Thesis

N.G.M. Rademakers

2005.64 Development of a V-belt speed sensor for the CVT-CK2

Aart-Jan van Eck

2005.65 Improving a tyre model for motorcycle simulations. Master’s Thesis

W.D. Versteden

2005.66 Actieve Stabilisatie van Centrifugaalcompressor Surge. Bachelor Eindproject

E. Peeters

2005.67 Elt Segment Position Actuators. Investigation Report. Confidential

R. Geurink

2005.68 Development and analysis of a vehicle model in Sim Mechanics for Formula Student. Traineeship

B. de Waal

2005.69 Trajectory generation for a four axis robot with linear kinematics. Traineeship

S.N. van den Brink

2005.70 Performance improvement of a CD/DVD-drive. Traineeship “confidential”

M.R. Hamers

2005.71 Overactuation to prevent plate vibrations. Master’s Thesis

J.L.M. de Ruijter

2005.72 Implementeing a Hard Real-Time Data Acquisition and Control System on linux RTAI-LXRT

F.M. Klomp

2005.73 Manual for the 1C1M set-up. Traineeship F.M. Klomp 2005.74 Improved mathematical model of the interaction

between a null-flux coil and magnet. Traineeship F.M. Klomp

2005.75 Impedance Control of a PHICOM 3+ S. Rodermond 2005.76 Control of a launcher to focus microwaves for

nuclear fusion E.A.L.J. Limpens

5 Report not received


2005.77 Practical stabilization of a mobile robot with η trailers using saturated control

W.J.E. Evers

2005.78 Research strandjack wedges orientation theoretical considerations and potential improvements

H.G.M.R. van Hoof

2005.79 Design of a compensation algorithm to maximize the smoothness of a hydraulic motion system. Traineeship

R.J.M. de Jong

2005.80 Iterative Learning Control on an Inkjet Printhead. Master’s Thesis

N.J.M. Bosch

2005.81 Evaluation of a test setup to measure friction damping Traineeship

T. ten Dam

2005.82 Introductie in Scanning Probe Microscopy C. Werner 2005.83 H∞ and loop-shaping or motion systems.

Traineeship M. Huizer

2005.84 DC upset resistance welding Modelling and control of a weld process. Master’s Thesis

G.J.L. Naus

2005.85 Aliasing in PNAH. Bachelor eindproject X. Schuurbiers 2005.86 Vibration reduction of the Moving Base.

Traineeship M. Potter

2005.87 Basics of color based computer vision implemented in Matlab. Traineeship

H.J.C. Luijten

2005.88 Ontwerp Fast Tool Servo. Master’s Thesis F. v.d. Hulst 2005.89 Robot “Bird”. Bachelor eindproject F.P.M. Dullens 2005.90 Modelling and control of a hydraulic servo system

H∞ control and LPV control versus classical control. Master’s Thesis

F.P. Wijnheijmer

2005.91 H-Drive manual B.R.A. Janssen 2005.92 Sectional Hybrid drive H.W. van Boxtel 2005.93 Concept Design for Reel to Reel Flex Foila

Handling on a Component Mounting Machine. Master’s Thesis

R. Wakker

2005.94 Optimizing and Implementing leat springs for the reluctance motor

C.A.L. Aerts

2005.956 Real-time spectral analysis for obstacle detection in blind zone of ultrasonic sensors

J.M. Dolsma

2005.96 Assessment of the parameter estimation capabilities of gPROMS and Aspen Custom Modeler, using the Sec-Butyl-Alcohol stripper kinetics case study. Master’s Thesis

Peter Tijl

2005.97 The Vicinity Sensor: Exploring the use of Hapticons in Everyday Appliances. Master’s Thesis

K. v.d. Molen

2005.98 Tracking Control of Underactuated mechanical systems. Traineeship

E.A.J. Geurtsen

2005.99 Non-model-based friction compensation of a system with non-collocated friction. Master’s Thesis

M. Meijboom

2005.100 Conceptual design of energy exchange systems for hybrid vehicles. Master’s Thesis

Douwe Hoekstra

2005.1017 Ontwerp van een camera statief of de rolstoel van fotograaf John Geven

R.P.A. Vugts



2005.102 The influence of a plasma needle on substrates with respect to wettability, bacterial adhesion and biofilm detachment. Traineeship

Tom Baede

2005.103 Machine-In-the-Loop Control Optimization: Application to High-Precision Motion Systems

S.H. van der Meulen

2005.104 Output feedback tracking of a fully actuated ship. Master’s Thesis

M. Wondergem

2005.105 Trajectory Planning for the Halobject. Traineeship P.M. Nagelmaeker 2005.106 Development of a Piston Cylinder Calibrator T. de Boer 2005.107 Impact modeling and control of a PHICOM 3+

wire bounder Rob Verkooijen

2005.108 Feedback control for an unstable plate under an axial flow. Traineeship

T.M. Paes

2005.109 Design of a fully automated identification tool for the Nyquist autotuner

Ramon Solberg

2005.110 New output-feedback tracking control concepts for mobile robots. Master’s Thesis

P. v. Dongen

2005.111 Validation of Clamping Force Models using the Power Loop Test Rig. Master’s Thesis

G.A. Commissaris

2005.112 Experimental modal analysis of the tyre measurement tower

P.A.R. Schrijver

2005.113 Feasibility study for an ultra-compact hybrid driveline

2005.114 The Control Design for an Overactuated Vehicle John Vissers 2005.1158 Voorstel tot objectief kwantificeren van handling

van trucks Tjalling Veldhuizen

2005.116 Advanced fuel Consumption and Emission Modeling using Willans line scaling techniques for engines

Bastiaan Zuurendonk

2005.117 Design of an omnidirectional universal mobile platform

R.P.A. van Haendel

2005.118 Vehicle vibration comfort: the influence of dry friction in the suspension

C.T.T. Geluk

2005.119 Ontwerp van een camerastatief op een rolstoel R.P.A. Vugts 2005.120 Realisation Inline_CVT test rig at the UCDavis

HEV Center, USA N. Scheffer

2005.121 Realisation Inline_CVT test rig at the UCDavis HEV Center, USA

G.J.C.M. Arts

2005.122 Robust Design of structures using uncertainty methods combined with Component Mode Synthesis

H.W.J. v.d. Berg

2005.1239 6 degrees of freedom stage with electro-magnetic actuaters

J.A.F.M. Simons en N.C.T. de Kleijn

2005.124 Design and Control of a 3 DOF Actuator for a T-ROM Optical Storage System

Rudy Oosterbosch

2005.125 Idnetification of the inertias of the H-bridge

D.J. Kessels

2005.126 Evaluation of the MF-Tyre/MF-Swift 6.0 tyre model

Hanno Schouten

2005.127 Design of a humanlike robotic eye unit to be used for active stereo vision

Erik Manders

2005.128 Control and Observer Design for Non-smooth Systems

Kanat Camlibel



2005.129 Controllability of Non-smooth Systems Kanat Camlibel 2005.130 Matlab Simulink modeling of a hybrid vehicle Jorg Beckers 2005.131 Implementation and comparison of models to

create a Basic Profile on a arbitrary road Profile Sebastiaan Kersjes

2005.132 Digital Image Correlation for Analyzing Portable electronic Products during Drop Impact Tests

P.L.W. Scheijgrond

2005.133 Controlling rear wheel steering J. Veen 2005.134 Modelling and observer design of an overhead

container crane B.A.J. de Jong

2005.135 Analyses of Vehicle in-Use Emission Measurements

Aart-Jan van Eck

2005.136 Stability Analysis of Sampled-Data Systems with Network Delays

H.L. Hagenaars

2005.137 A design for a multi lens array focusing mechanism

A.E. Kooiker

2005.138 Design of a PowerShift Module for long haulage trucks

M.M.J. Nievelstein

2005.139 Numerieke en experimentele dynamische analyse van een lokaal verstijfde balk

Patrick Neefs

2005.140 Optimization of CVT control (for Hybrid and Conventional drive lines)

M.F. Oudijk

2005.141 The design of an experimental paperpath setup G. Witvoet 2005.141/142

Non linear controller design using Ellipsoidal unfalsified control

T. Kok

2005.142 DCT 24 hours meeting L. Neervoort 2005.143 Robotics for Mars exploration R.W. van Gils 2005.144 Upshift grating, shift problem with the range

group and a design assignment A.J. Baeten

2005.14510 Positioning of a printhead with ILC N.A.M. Weel 2005.146 Formula student vehicle analysis by means of

simulation R. van der Aalst

2005.147 Design of a RoboCup shooting mechanism C.J. Zandsteeg 2005.148 Optimal Energy Management Strategy for the

Honda Civic IMA J. v. Baalen

2005.14911 Actuation principles of permanent magnet synchronous planor motors, a literature survey

M.R. Hamers

2005.150 Testing and debugging sub-systems of a Maglev track

S.J. Voeten

2005.151 Porposal for a clamping force and ratio actuation system for a V-belt type CVT using rollers and a cable

R.G.J. Drabbels

2005.152 Trajectory and formation control of multiple dynamical systems

F. Kamalizadeh

2005.153 Numerical analysis and Design of a system with backlash

E.L.W. Blom, H.M.A. Smetsers, F.J.W. Zeelen


Documents

Annual Report 2005 - Materials Technologymate.tue.nl/mate/pdfs/6757.pdfAnnual Report 2005 Dynamics and Control Technology Group 1 Department of Mechanical Engineering ... Dynamics