In recent years, a wealth of CAD-tools have appeared on the market where
mainly lumped-parameter physical system models can be combined with control
system design. More difficult, and still not available, is the combination
of distributed models of physical systems (finite-element models, vibro-acoustic
models, flexible multibody models) with control models in one integrated
design environment. There is thus an urgent need for such a "mechatronic
compiler", able to accept high-level system specifications and to turn
them (semi)-automatically, into optimal system parameters. The ultimate
aim is to arrive at an integrated system, enabling the simultaneous optimization
of the machine structure and the controllers, in the design stage, in order
to achieve optimal positioning, tracking, dynamic, vibro-acoustic, ...
behavior.
For this purpose, this workpackage has been divided into three main
tasks :
Main Task 1.1: Optimization strategies for designing multibody systems
(UCL-PRM, ULg-LTAS, KUL-PMA)
Main Task 1.2: Interaction between structural dynamics and control
(ULB-ASL, ULg-LTAS, KUL-PMA)
Main Task 1.3: Integration into a mechatronic compiler (KUL-PMA, UCL-PRM,
KUL-ESAT)
Sensors and actuators are the senses and the muscles that enable to
turn machines into "intelligent" -or at least smart - artefacts. They enable
to implement the basic mechatronics paradigm: enhancing the machine's mechanical
behaviour without structural modifications and increasing its autonomy.
The aim of this work package (WP) is to design novel hardware components
for intelligent mechatronic systems: novel types of sensors, actuators
and drive system concepts. Some aspects of micro-electromechanical systems
(MEMS) are considered as well.
Microsystems require a new way of thinking about sensing and actuation,
e.g. because of scaling effects. Also the manufacturing methods of microsystems
have to be revisited. A particularly important issue, in view of the increased
autonomy required from our machines, is the development of monitoring and
diagnostics methods. This requires appropriate sensor signal processing,
the selection of suitable sensors and their optimal placement. Especially
transient signals, coming from non-stationary motions, are considered in
detail.
Main Task 2.1: Micro-electromechanical systems (KUL-PMA, KUL-ESAT/MICAS,
ULG-LTAS)
Main Task 2.2: Drive system concepts (KUL-PMA, UCL-PRM)
Main Task 2.3: Flexible active range sensor (KUL-ESAT/PSI, KUL-ESAT/ACCA,
KUL-ESAT/MICAS)
Main Task 2.4: Monitoring and diagnostics (KUL-PMA, KUL-ESAT/SISTA,
ULg-LTAS)
This workpackage deals with the development of robust, highly-accurate
motion control (or motion cancellation) methods, for precise positioning,
motion tracking, noise and vibration cancellation. Success of these methods
is based on the availability of accurate modelling and identification methods.
Therefore, special emphasis is put on the development of models and identification
methods for the special class of systems that are mechatronic systems.
Main Task 3.1: Experimental identification (KUL-PMA, KUL-ESAT/SISTA,
ULg-LTAS, UCL-PRM)
Main Task 3.2: Robust motion control methods for drive systems (KUL-PMA,
KUL-ESAT/SISTA, )
Main Task 3.3: Active noise and vibration control (ULB-ASL, ULg-LTAS,
KUL-PMA)
The projects proposed under this work package are complementary in a
number of respects. For one thing, the first deals with mobile robots,
the second with fixed work stations. In terms of the functionality, another
distinction can be made in that the first project focuses on an environment
that is more remote, whereas the second deals with applications where there
is close, physical contact (e.g. grasping). Of course, real applications
may include aspects from both. A mobile robot may e.g. roam a space and
grasp an object once it has been found.
Main Task 4.1: Navigation of mobile robots and other vehicles (KUL-ESAT/PSI,
KUL-PMA, UCL-PRM)
Main Task 4.2: Sensor based robot control (KUL-ESAT/PSI, KUL-PMA, ULB-ASL)