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Delft University of Technology
1.
Boerefijn, Leroy (author).
IPMC Actuator for Swimming Microrobots.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:c46870ea-b4dd-4488-bb5d-6d6819f1c543 
► Autonomous microrobots ‘swimming’ through bodily fluids promise a major breakthrough in the fields of medicine and surgery. Targeted drug delivery, ablations, stents, implants, and remote…
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▼ Autonomous microrobots ‘swimming’ through bodily fluids promise a major breakthrough in the fields of medicine and surgery. Targeted drug delivery, ablations, stents, implants, and remote sensing applications are among the envisioned applications. One of the biggest challenges in the design of these devices is the propulsion actuator. Within this thesis, Ionic Polymer Metal Composite (IPMC) is proposed for the design of a distributed actuator. This smart material consists of a polymer backbone that is permeable to cations, whilst being impermeable to anions. When an electric potential is applied over the thin platinum electrodes, the cations migrate towards the negative electrode, while the anions remain fixed. This results in an expansion near the negative electrode, due to the higher concentration. Simultaneously, the material contracts at the positive electrode. On the macro level, this results in a large bending deformation of the IPMC strip. Using an improved video processing algorithm, the curvature of a strip of IPMC is investigated. By analyzing the dynamic response in fluids of varying viscosity, it is shown that IPMC behaves well in low-Reynolds environments. Thereby, IPMC is shown to be a feasible actuator at microscale, where viscous forces dominate inertial forces. Next, a novel swelling based model in Comsol is proposed. Since it accurately shows the deformation shape, is easily adaptable, and has fast computation times, it is highly suitable for engineering purposes. Finally, a methodology is proposed for designing IPMC based bending tail actuators. Segmented IPMC is kinematically modeled with a constant curvature assumption. Using a nested optimization algorithm, the segmentation is designed for optimally attaining a desired wave shape. The traveling wave behavior is confirmed through the Comsol model. Hopefully, this work provides a basis for future work to build on, thereby giving new direction to the development of microrobots for medical purposes.
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: IPMC; curvature; camera; viscosity; Comsol; hygroscopic swelling; segmented IPMC; beating tail; swimming microrobots; kinematic modeling
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APA (6th Edition):
Boerefijn, L. (. (2017). IPMC Actuator for Swimming Microrobots. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:c46870ea-b4dd-4488-bb5d-6d6819f1c543
Chicago Manual of Style (16th Edition):
Boerefijn, Leroy (author). “IPMC Actuator for Swimming Microrobots.” 2017. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:c46870ea-b4dd-4488-bb5d-6d6819f1c543.
MLA Handbook (7th Edition):
Boerefijn, Leroy (author). “IPMC Actuator for Swimming Microrobots.” 2017. Web. 10 Apr 2021.
Vancouver:
Boerefijn L(. IPMC Actuator for Swimming Microrobots. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:c46870ea-b4dd-4488-bb5d-6d6819f1c543.
Council of Science Editors:
Boerefijn L(. IPMC Actuator for Swimming Microrobots. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:c46870ea-b4dd-4488-bb5d-6d6819f1c543
Delft University of Technology
2.
Baron, Koen (author).
Ride comfort optimization of a ropeless elevator.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:bbbd26ff-b4bb-4fd2-899b-0b5c14bf2b28
► Tall buildings lose a big part of their expensive space to elevator shafts. A ropeless elevator reduces the amount of shafts, because multiple cabins are…
(more)
▼ Tall buildings lose a big part of their expensive space to elevator shafts. A ropeless elevator reduces the amount of shafts, because multiple cabins are able to move in the same shaft. Currently an elevator using a row of linear motors along the shaft is in the end phase of development. Tests on a full scale prototype 5 have proven the concept. However vibrations in the current concept are over ten times higher than those in traditional elevators, resulting in an uncomfortable ride. Actuators are placed over the length of the shaft, each one of them operating independently from its neighbors. Every single actuator contains its own position sensor, which was specifically designed for this application. With the measured position every actuator can apply a feedback force on top of 10 the feed forward force. In theory a smooth vibration free ride is possible, but yet for unknown reasons vibrations exist. The first objective of this research is to investigate the sources of vibration. With the knowledge obtained in this investigation, improvements are proposed and worked out. The final goal is to improve the comfort to an internationally accepted level. 15 Causes of vibrations are found. The dominant factors are the position sensor, the magnet yoke and the control algorithm. All position sensors will be calibrated, the tolerances of the magnet yoke can be compensated using a correction model and the controller is improved to fit the needs of the distributed actuation. The comfort is increased by a more than a factor ten, which brings it to a level equal to that of traditional elevators.
Precision and Microsystems Engineering
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Schreurs, Rik (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: modular linear motor; Ropeless Elevator; Hall sensors; Position sensor; Calibration; Control
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APA (6th Edition):
Baron, K. (. (2018). Ride comfort optimization of a ropeless elevator. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:bbbd26ff-b4bb-4fd2-899b-0b5c14bf2b28
Chicago Manual of Style (16th Edition):
Baron, Koen (author). “Ride comfort optimization of a ropeless elevator.” 2018. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:bbbd26ff-b4bb-4fd2-899b-0b5c14bf2b28.
MLA Handbook (7th Edition):
Baron, Koen (author). “Ride comfort optimization of a ropeless elevator.” 2018. Web. 10 Apr 2021.
Vancouver:
Baron K(. Ride comfort optimization of a ropeless elevator. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:bbbd26ff-b4bb-4fd2-899b-0b5c14bf2b28.
Council of Science Editors:
Baron K(. Ride comfort optimization of a ropeless elevator. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:bbbd26ff-b4bb-4fd2-899b-0b5c14bf2b28
Delft University of Technology
3.
Palanikumar, Arun (author).
High Bandwidth Stable Motion Control of Fourth and Higher Order Systems.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:e74eeb4a-41f1-4591-be49-bbdcf09d88af
► PID is the most commonly used technique in industrial motion control. It consists of three components - lead, lag and low pass filter (LPF). PID,…
(more)
▼ PID is the most commonly used technique in industrial motion control. It consists of three components - lead, lag and low pass filter (LPF). PID, being a linear control method is inherently bounded by waterbed effect due to which there exists a trade-off between precision, tracking, and stability. Reset control is a nonlinear technique which shows promise in overcoming certain limitations. Despite the promise shown, the use of reset elements other than integrator within the framework of PID for improved performance has not been well investigated. This thesis work focuses on implementing reset in lead part and in LPF in order to reduce the severity of the waterbed effect in PID. Three controllers have been developed that provide improvements in bandwidth, precision, and tracking. The controllers were implemented in a Lorentz-actuated nanometer precision stage and the performance has been validated in both time and frequency domain.
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Saikumar, Niranjan (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: reset control; PID
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APA (6th Edition):
Palanikumar, A. (. (2017). High Bandwidth Stable Motion Control of Fourth and Higher Order Systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:e74eeb4a-41f1-4591-be49-bbdcf09d88af
Chicago Manual of Style (16th Edition):
Palanikumar, Arun (author). “High Bandwidth Stable Motion Control of Fourth and Higher Order Systems.” 2017. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:e74eeb4a-41f1-4591-be49-bbdcf09d88af.
MLA Handbook (7th Edition):
Palanikumar, Arun (author). “High Bandwidth Stable Motion Control of Fourth and Higher Order Systems.” 2017. Web. 10 Apr 2021.
Vancouver:
Palanikumar A(. High Bandwidth Stable Motion Control of Fourth and Higher Order Systems. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:e74eeb4a-41f1-4591-be49-bbdcf09d88af.
Council of Science Editors:
Palanikumar A(. High Bandwidth Stable Motion Control of Fourth and Higher Order Systems. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:e74eeb4a-41f1-4591-be49-bbdcf09d88af
Delft University of Technology
4.
Viëtor, Silvan (author).
Tunable Magnets: Modeling and Validation for Dynamic and Precision Applications.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:b4f375ee-c52c-45de-b40a-37d5722407d2
► Actuator self-heating limits achievable force and can cause unwanted structural deformations that adversely affect the accuracy in precision actuation systems. This is especially apparent in…
(more)
▼ Actuator self-heating limits achievable force and can cause unwanted structural deformations that adversely affect the accuracy in precision actuation systems. This is especially apparent in quasi-static applications that require the actuator to maintain a stable position over an extended period. As a solution, we propose the use of Tunable Magnets (TMs). TMs rely on in-situ magnetization state tuning of AlNico to create an infinitely adjustable magnetic flux. They consist of an AlNiCo low coercivity permanent magnet together with a magnetizing coil. After tuning, the AlNiCo retains its magnetic field without further energy input, thus eliminating static heat dissipation. To enable implementation in actuation systems, the AlNiCo needs to be robustly tunable in the presence of a dynamically varying system air-gap. We achieve this by developing a magnetization state tuning method, based on a magnetic circuit model of the actuator, measured AlNiCo BH data and air-gap flux feedback control. A measurement setup is built to test the proposed tuning method. For an AlNiCo 5 TM, we have accomplished magnetization tuning with an accuracy in the mT range and a sub mT precision. With this obtained performance, actuator heating is already almost eliminated during static periods. The second part of the thesis consists of investigating TM actuator applications. By comparing a TM actuator to a conventional actuator of similar geometry, we have derived a metric called the Break-Even Tuning Time. This can be used to evaluate what actuation applications can be made more energy efficient using a TM actuator. The results are very sensitive to assumptions made, but they do provide some useful qualitative conclusions. Actuation systems where these actuators can improve energy efficiency can be characterized by a low actuation bandwidth or only incidentally required actuation, together with large air-gaps and/or large required constant bias forces. Also, scaling analysis shows that TM actuators are more energy efficient compared to conventional reluctance actuators at small length scales.
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Spronck, Jo (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: tunable magnets; electropermanent magnets; precision actuation; magnetization state tuning; thermal stability; AlNiCo; recoil permeability
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APA (6th Edition):
Viëtor, S. (. (2018). Tunable Magnets: Modeling and Validation for Dynamic and Precision Applications. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b4f375ee-c52c-45de-b40a-37d5722407d2
Chicago Manual of Style (16th Edition):
Viëtor, Silvan (author). “Tunable Magnets: Modeling and Validation for Dynamic and Precision Applications.” 2018. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:b4f375ee-c52c-45de-b40a-37d5722407d2.
MLA Handbook (7th Edition):
Viëtor, Silvan (author). “Tunable Magnets: Modeling and Validation for Dynamic and Precision Applications.” 2018. Web. 10 Apr 2021.
Vancouver:
Viëtor S(. Tunable Magnets: Modeling and Validation for Dynamic and Precision Applications. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:b4f375ee-c52c-45de-b40a-37d5722407d2.
Council of Science Editors:
Viëtor S(. Tunable Magnets: Modeling and Validation for Dynamic and Precision Applications. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:b4f375ee-c52c-45de-b40a-37d5722407d2
Delft University of Technology
5.
Akyüz, Erdi (author).
Reset Control for Vibration Isolation.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:b627fe61-746a-4675-be57-cfc5808812ec
► Floor vibrations are a common problem in high tech engineering where good tracking, precision and bandwidth have utmost importance. They are mainly present at low…
(more)
▼ Floor vibrations are a common problem in high tech engineering where good tracking, precision and bandwidth have utmost importance. They are mainly present at low frequencies, and they need to be suppressed. PID control is the go-to controller in the industry because of its ease of design, simple implementation and good performance. However, PID is subjected to the fundamental limitations of linear control theory - the waterbed effect and bode's gain-phase relationship. Therefore, it is not possible to improve one performance criterion, like stability, without negatively influencing the other. The need for overcoming the fundamental limitations of linear control initiates research towards nonlinear controllers. Reset control is a type of nonlinear controller as a solution to overcome the limitations of a linear control. It reduces phase lag within the system, gives the advantage to reach higher bandwidth and results in lower overshoot or a faster settling time compared to linear controllers. However, using reset control comes with a price of unwanted dynamics due to the higher order harmonics. The main focus of this thesis is to improve disturbance rejection performance against floor vibrations by attenuating the power of high order harmonics. This problem has been tackled within the thesis, and a band-pass reset control is proposed. Proposed reset controller applies reset only within the frequency range where floor vibrations are present, and it uses integrator as a reset variable. Results show reset controller that has a broadband phase compensation, like CgLp, is more advantageous towards phase lag reduction methods. CgLp is a reset element, which is an abbreviation of Constant-Gain Lead Phase. It gives broadband phase compensation within the desired range of frequencies by using generalized first order reset element. Also, CgLp controller achieved disturbance rejection performance of PIsuperscript{2}D with the phase behavior of Clegg.
Mechatronic System Design
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Saikumar, Niranjan (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Reset control; disturbance rejection; Nonlinear control
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APA (6th Edition):
Akyüz, E. (. (2018). Reset Control for Vibration Isolation. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b627fe61-746a-4675-be57-cfc5808812ec
Chicago Manual of Style (16th Edition):
Akyüz, Erdi (author). “Reset Control for Vibration Isolation.” 2018. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:b627fe61-746a-4675-be57-cfc5808812ec.
MLA Handbook (7th Edition):
Akyüz, Erdi (author). “Reset Control for Vibration Isolation.” 2018. Web. 10 Apr 2021.
Vancouver:
Akyüz E(. Reset Control for Vibration Isolation. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:b627fe61-746a-4675-be57-cfc5808812ec.
Council of Science Editors:
Akyüz E(. Reset Control for Vibration Isolation. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:b627fe61-746a-4675-be57-cfc5808812ec
Delft University of Technology
6.
van Unen, Arjan (author).
Dynamic responses of centimetre scale parallel- and crossflexures.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:f9f04910-0c39-4725-8547-d3dbd119bc87
► Delta robots can be improved by changing the conventional joints with compliant joints (CJs). This will enable a new type of machine without joint clearance,…
(more)
▼ Delta robots can be improved by changing the conventional joints with compliant joints (CJs). This will enable a new type of machine without joint clearance, zero friction, no wear and no need for lubrication, which makes the delta robot suitable for clean environments and dynamic applications with low maintenance. Most research in the field of compliant mechanism (CM) is in the static and quasi-static domain. Recent research on the dynamic behaviour of systems with CJs are validated with FEM models, although alignment and manufacturing errors are known to contribute to significant performance loss. This research contributes to the implementation of CJs in delta robots by looking at both theoretically and experimentally obtained bode plots for centimetre range parallel- and crossflexures. The aim of this thesis is to find the influence of varying joints angles and flexure thicknesses on the parasitic frequencies. The experimentally obtained frequency responses show that both flexure thickness and joint angle have influence on the parasitic frequency.
Mechatronic System Design
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Herder, Just (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: delta robot; cross flexure; compliant mechanism; centimetre; centimeter; dynamic response
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APA (6th Edition):
van Unen, A. (. (2019). Dynamic responses of centimetre scale parallel- and crossflexures. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:f9f04910-0c39-4725-8547-d3dbd119bc87
Chicago Manual of Style (16th Edition):
van Unen, Arjan (author). “Dynamic responses of centimetre scale parallel- and crossflexures.” 2019. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:f9f04910-0c39-4725-8547-d3dbd119bc87.
MLA Handbook (7th Edition):
van Unen, Arjan (author). “Dynamic responses of centimetre scale parallel- and crossflexures.” 2019. Web. 10 Apr 2021.
Vancouver:
van Unen A(. Dynamic responses of centimetre scale parallel- and crossflexures. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:f9f04910-0c39-4725-8547-d3dbd119bc87.
Council of Science Editors:
van Unen A(. Dynamic responses of centimetre scale parallel- and crossflexures. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:f9f04910-0c39-4725-8547-d3dbd119bc87
Delft University of Technology
7.
Kaczmarek, Marcin (author).
Hybrid passivity and finite-gain properties of reset systems: An application to stability analysis in the frequency domain.
Degree: 2020, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:eb538b9e-20ed-4628-b1e8-53a5d1940e8b
► Reset control is a "simple" nonlinear control strategy that has the potential of being widely adopted and improving the performance of systems traditionally controlled with…
(more)
▼ Reset control is a "simple" nonlinear control strategy that has the potential of being widely adopted and improving the performance of systems traditionally controlled with PIDs. Lack of suitable methods for proving stability, that are in line with the current industrial practice, hampers the wider acceptance of reset control. In this thesis, novel sufficient conditions for stability of reset control systems, that can be evaluated using measured frequency response function of a system to be controlled, are derived using the hybrid passivity and finite-gain framework. A method for analysing the hybrid passivity and finite-gain parameters of reset systems, that can be extended to other classes of nonlinear systems, is developed. Additionally, a variant of the “Constant in Gain Lead in Phase” reset element, that facilitates the use of the proposed method for the stability analysis, is introduced. Stability of several precision positioning systems with reset controllers, designed for different objectives, is studied to demonstrate the applicability of the proposed hybrid passivity and finite-gain approach for the stability analysis of reset control systems. Guidelines for design of reset systems such that their stability can be concluded using the hybrid passivity and finite gain method are shown. This thesis presents a new view on the stability of reset systems and addresses the need for frequency-domain tools for stability analysis of nonlinear control systems in precision mechatronics applications.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: Steur, Erik (mentor), Hossein Nia Kani, Hassan (mentor), Saikumar, Niranjan (mentor), De Schutter, Bart (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Reset control; Frequency-domain methods; Input-output stability; Passivity; Finite-gain
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APA ·
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APA (6th Edition):
Kaczmarek, M. (. (2020). Hybrid passivity and finite-gain properties of reset systems: An application to stability analysis in the frequency domain. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:eb538b9e-20ed-4628-b1e8-53a5d1940e8b
Chicago Manual of Style (16th Edition):
Kaczmarek, Marcin (author). “Hybrid passivity and finite-gain properties of reset systems: An application to stability analysis in the frequency domain.” 2020. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:eb538b9e-20ed-4628-b1e8-53a5d1940e8b.
MLA Handbook (7th Edition):
Kaczmarek, Marcin (author). “Hybrid passivity and finite-gain properties of reset systems: An application to stability analysis in the frequency domain.” 2020. Web. 10 Apr 2021.
Vancouver:
Kaczmarek M(. Hybrid passivity and finite-gain properties of reset systems: An application to stability analysis in the frequency domain. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:eb538b9e-20ed-4628-b1e8-53a5d1940e8b.
Council of Science Editors:
Kaczmarek M(. Hybrid passivity and finite-gain properties of reset systems: An application to stability analysis in the frequency domain. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:eb538b9e-20ed-4628-b1e8-53a5d1940e8b
Delft University of Technology
8.
Heinen, Kars (author).
Frequency analysis of reset systems containing a Clegg integrator: An introduction to higher order sinusoidal input describing functions.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:ccc37af2-fcbc-46ec-9297-afdc5c1ea4b5
► PID is the most popular controller in the industry. PID controllers are linear, and thus have fundamental limitations, such that certain performance criteria cannot be…
(more)
▼ PID is the most popular controller in the industry. PID controllers are linear, and thus have fundamental limitations, such that certain performance criteria cannot be achieved. To overcome these limitations, nonlinear reset control can be used. Reset control can achieve less overshoot and a faster response time than linear controllers. However, the resetting mechanism has a jump function which causes jumps in the control input, which can result in limit cycles. Linear filters and controllers are designed in the industry using loop shaping, which is done in the frequency domain. In this study it is investigated how to analyse reset systems in the frequency domain. A reset system is nonlinear, so transfer functions needs to be approximated by describing functions. The sinusoidal input describing function considers only the first harmonic of the output and therefore does not capture all the dynamics of the element. The effects of the higher order harmonics are important in precision systems, since unwanted dynamics should not be excited nor should performance be affected. In this thesis, the higher order sinusoidal input describing functions (HOSIDF) are derived analytically. The HOSIDF shows the magnitude and phase response per harmonic, such that stability and performance analysis can be improved. Because the HOSIDF shows multiple responses, it is not trivial how to do loop shaping. The information from the HOSIDF is combined, creating a combined magnitude and combined phase response. It is seen that the combined magnitude looks promising, but the combined phase has jumps. It is concluded that the combined magnitude and combined phase are not mature enough to rely on during loop shaping and further work in this direction is required.
Systems and Control
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Saikumar, Niranjan (mentor), van Wingerden, Jan-Willem (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: reset control; higher order describing function; clegg integrator
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APA (6th Edition):
Heinen, K. (. (2018). Frequency analysis of reset systems containing a Clegg integrator: An introduction to higher order sinusoidal input describing functions. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:ccc37af2-fcbc-46ec-9297-afdc5c1ea4b5
Chicago Manual of Style (16th Edition):
Heinen, Kars (author). “Frequency analysis of reset systems containing a Clegg integrator: An introduction to higher order sinusoidal input describing functions.” 2018. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:ccc37af2-fcbc-46ec-9297-afdc5c1ea4b5.
MLA Handbook (7th Edition):
Heinen, Kars (author). “Frequency analysis of reset systems containing a Clegg integrator: An introduction to higher order sinusoidal input describing functions.” 2018. Web. 10 Apr 2021.
Vancouver:
Heinen K(. Frequency analysis of reset systems containing a Clegg integrator: An introduction to higher order sinusoidal input describing functions. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:ccc37af2-fcbc-46ec-9297-afdc5c1ea4b5.
Council of Science Editors:
Heinen K(. Frequency analysis of reset systems containing a Clegg integrator: An introduction to higher order sinusoidal input describing functions. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:ccc37af2-fcbc-46ec-9297-afdc5c1ea4b5
Delft University of Technology
9.
Florijn, Floris Jan (author).
Development of a low-cost computer vision sensor for precision positioning systems: Exploring the limits of computer vision sensors in precision systems.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:0a00eb33-d3c9-42c7-9d07-9ba45521a280
► Computer vision has been on the rise over the last decades. The applications of computer vision are mostly found within the domain of robotics and…
(more)
▼ Computer vision has been on the rise over the last decades. The applications of computer vision are mostly found within the domain of robotics and Unmanned Aerial Vehicle's. The use of computer visions in precision industry is new and offers both opportunities and challenges. In high performance precision systems the demands on sensors is set high in terms of precision, delay and sample rate. In previous work a computer vision sensor was developed for the control of a microscopy stage. This development opened a path for computer vision sensors in precision systems. However, the limitations of computer vision sensors are challenging in the domain of control. A computer vision sensor needs to process an image before it can estimate the position of an object. This processing requires time which introduces a time delay into the control system. Due to the nature of the computer vision algorithm and computing devices, the delay in the sensor is time varying. Furthermore, since a controller typically requires a tenfold sample rate of the control bandwidth the limited frame rate of computer vision sensors imposes additional challenges. In previous work, the delay and limited sample rate of the computer vision sensor limited the control bandwidth of a microscopy to 0.87Hz in translational range. Since high performance precision systems require higher bandwidths a new computer vision sensor is developed in this thesis. An existing microscopy stage is used to test the performance of a computer vision sensor. Ground vibrations in a laboratory environment have a peak value at 10Hz which defines the target bandwidth. In order to reach this target bandwidth a new computer vision sensor is proposed. The sensor uses a cost-effective camera and a computer to run the computer vision algorithm. By decreasing the delay from 60ms to 10ms a control bandwidth of 7Hz, using PID, is obtained in this work. Since the target bandwidth is 10Hz time delay compensation is considered to improve the performance. By implementing a Filtered Smith Predictor the target bandwidth of 10Hz is reached. The maximum control bandwidth of the controller, 15Hz, was derived in order to inspect the limit of computer vision sensors in precision systems.
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Saikumar, Niranjan (mentor), van Wingerden, Jan-Willem (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Computer Vision; precision positioning; Control; mechatronics
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APA (6th Edition):
Florijn, F. J. (. (2018). Development of a low-cost computer vision sensor for precision positioning systems: Exploring the limits of computer vision sensors in precision systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:0a00eb33-d3c9-42c7-9d07-9ba45521a280
Chicago Manual of Style (16th Edition):
Florijn, Floris Jan (author). “Development of a low-cost computer vision sensor for precision positioning systems: Exploring the limits of computer vision sensors in precision systems.” 2018. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:0a00eb33-d3c9-42c7-9d07-9ba45521a280.
MLA Handbook (7th Edition):
Florijn, Floris Jan (author). “Development of a low-cost computer vision sensor for precision positioning systems: Exploring the limits of computer vision sensors in precision systems.” 2018. Web. 10 Apr 2021.
Vancouver:
Florijn FJ(. Development of a low-cost computer vision sensor for precision positioning systems: Exploring the limits of computer vision sensors in precision systems. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:0a00eb33-d3c9-42c7-9d07-9ba45521a280.
Council of Science Editors:
Florijn FJ(. Development of a low-cost computer vision sensor for precision positioning systems: Exploring the limits of computer vision sensors in precision systems. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:0a00eb33-d3c9-42c7-9d07-9ba45521a280
Delft University of Technology
10.
Smit, Sam (author).
Conducting Polymer Microfluidic Valve.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:51a5d6e8-e695-4c35-a421-618d3839c8d0
► Microfluidics has changed the way we think about laboratory experimental design. With the use of lab-on-chip devices, we are capable of carrying out experiments that…
(more)
▼ Microfluidics has changed the way we think about laboratory experimental design. With the use of lab-on-chip devices, we are capable of carrying out experiments that include several functions on a single chip. Despite a lot of progress in the miniaturization of these devices, the peripheral systems which control the microfluidic functionalities like valves and pumps, remain bulky, making the microfluidic devices less portable. Conducting polymers are potential candidates that show promise to solve this issue and make the microfluidic devices portable. They are a class of polymer materials with intrinsic conductive properties and the ability to be formed and deformed at a low applied electric potential. This thesis presents the different aspects of the conceptualisation and creation of the actuator for an all polymer conducting polymer microfluidic valve. The proposed system uses the widely studied multi-layer bending beam actuator, commonly used as an artificial muscle or soft actuator. The actuation of the all polymer system is the result of the different expansion rates during an electrochemical reaction. The system consist of three polymer layers. The first layer is the flexible base layer that also functions as a fluid barrier in the microfluidic system. The second layer is the electrode material that is used as an electrode in both the fabrication and actuation of the expanding layer. The final layer is the electrochemically polymerized layer of expanding conducting polymer. The all polymer actuator can eventually form the basis for new opportunities regarding the miniaturisation and commercialisation of Lab on Chip devices
Advisors/Committee Members: Sasso, Luigi (mentor), Ghatkesar, Murali (mentor), Tichem, Marcel (graduation committee), Hossein Nia Kani, Hassan (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: expanding Conducting Polymer; Polymer Actuator; Microfluidic Valve; TOPAS; PEDOT; Polypyrrole
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APA (6th Edition):
Smit, S. (. (2017). Conducting Polymer Microfluidic Valve. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:51a5d6e8-e695-4c35-a421-618d3839c8d0
Chicago Manual of Style (16th Edition):
Smit, Sam (author). “Conducting Polymer Microfluidic Valve.” 2017. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:51a5d6e8-e695-4c35-a421-618d3839c8d0.
MLA Handbook (7th Edition):
Smit, Sam (author). “Conducting Polymer Microfluidic Valve.” 2017. Web. 10 Apr 2021.
Vancouver:
Smit S(. Conducting Polymer Microfluidic Valve. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:51a5d6e8-e695-4c35-a421-618d3839c8d0.
Council of Science Editors:
Smit S(. Conducting Polymer Microfluidic Valve. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:51a5d6e8-e695-4c35-a421-618d3839c8d0
Delft University of Technology
11.
Ivens, Mark (author).
Robust Reset Control using Adaptive / Iterative Learning Control.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:736ac020-25f8-4e03-8a3e-46569e79974b
► Reset controllers can outperform PID controllers and may introduce phase advantage compared to linear PID control. However, in general, reset controllers do not have the…
(more)
▼ Reset controllers can outperform PID controllers and may introduce phase advantage compared to linear PID control. However, in general, reset controllers do not have the same steady state properties as linear controllers, like removing steady state errors. In case of model mismatches and disturbances, this may cause limit cycles (persisting oscillations) in the closed response when (constant) references are tracked. The occurrence of these limit cycles is very unwanted in mechatronic precision systems, since the response does not converge to the desired set-point. To avoid / remove limit cycles in the response, some reset control methods are currently available. Examples are PI+CI controllers, reset controllers that reset to non-zero values and reset controllers with (adaptive) feedforward. Although the existing methods can be used to overcome the limit cycle problem, they are often dependent on the model of the system or are a trade-off between linear and nonlinear control. Hence, the existing methods are not very robust in general or do not use the full advantage of reset control. In this thesis, a simple and robust fixed instant adaptive reset controller is developed for a minimum phase SISO system that can be stabilized by standard PID control. The presented adaptive reset algorithm detects if a limit cycle is present and adapts the after reset value in an iterative way until the limit cycle is removed. Although no mathematical proof is given, the idea behind the presented method is explained. Simulations and measurements are performed to show that the algorithm is able to get rid of limit cycles caused by model mismatches and constant input disturbances. Furthermore, it is shown that the adaptive algorithm can be applied to zero-crossing reset as well.
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Saikumar, Niranjan (mentor), van Wingerden, Jan-Willem (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Reset control; Adaptive control; Iterative Learning Control; Limit cycles
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APA (6th Edition):
Ivens, M. (. (2018). Robust Reset Control using Adaptive / Iterative Learning Control. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:736ac020-25f8-4e03-8a3e-46569e79974b
Chicago Manual of Style (16th Edition):
Ivens, Mark (author). “Robust Reset Control using Adaptive / Iterative Learning Control.” 2018. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:736ac020-25f8-4e03-8a3e-46569e79974b.
MLA Handbook (7th Edition):
Ivens, Mark (author). “Robust Reset Control using Adaptive / Iterative Learning Control.” 2018. Web. 10 Apr 2021.
Vancouver:
Ivens M(. Robust Reset Control using Adaptive / Iterative Learning Control. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:736ac020-25f8-4e03-8a3e-46569e79974b.
Council of Science Editors:
Ivens M(. Robust Reset Control using Adaptive / Iterative Learning Control. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:736ac020-25f8-4e03-8a3e-46569e79974b
Delft University of Technology
12.
Salman, Yusuf (author).
Tuning a Novel Reset Element through Describing Function and HOSIDF Analysis.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:2236e1f6-4dc5-4f7f-96da-fc83ead69445
► The high-tech industry is pushing the motion system technology towards faster, more precise and more robust system. One of the keys to this growing demand…
(more)
▼ The high-tech industry is pushing the motion system technology towards faster, more precise and more robust system. One of the keys to this growing demand is the advancement of motion control. To this day, Proportional-Integral-Derivative (PID) has been the workhorse for the industry system control. This is because PID is simple to design and implement and adapt to industrial loopshaping method. Nevertheless, PID suffers fundamental limitations of linear control. To deal with this, a nonlinear control should be utilized. Reset control is a nonlinear control that is still easy but can overcome the limitation of linear control and more importantly, loop shaping method can be used to reset control by using describing function analysis which is pseudo-approximation of nonlinear system that based on the first harmonic. However, reset control also introduces higher order harmonics into the system that can negatively affect system performance. This is because these harmonics may cause some unwanted dynamics present in system response. Describing function which is the common tool to analyze and design reset control is not accurate enough since higher order harmonics are not considered. Recently, a tool to visualize higher order harmonics in frequency domain is developed. This open the possibilities to study the behavior of higher order harmonics and its effect to system performance. This thesis focuses on a performance analysis and tuning of a novel reset element called ’Constant in Gain, Lead in Phase’(CgLp). It is shown by the literature that reset control is often utilized to provide phase lag reduction but CgLp has shown the use of reset control to provide phase compensation and this improves system performance. Since its introduction, no guidelines available in the literature to design and tune CgLp. Looking at its potential to be industry standard for motion control, finding guidelines to tune CgLp is an important step to achieve this goal. To do the optimal tuning of reset element, higher order harmonics should be considered so that the effect of unwanted response can be minimized while maintaining the advantage of reset control. Therefore, the work in this thesis is performed by doing performance analysis of CgLp through describing function and HOSIDF. It is shown that while there is an improvement in tracking and steady state precision performance by using CgLp compared to normal PID, there is deterioration of the performance although describing function predicted an improvement. This is because there is a trade-off between improvement by CgLp and the rise of higher order harmonics gain. In this work, the higher order harmonics was considered at the bandwidth frequency and normalized over its first harmonic. It was observed that the optimal performance is achieved when the highest gain value of normalized 3rd harmonic is around half of maximum possible value of normalized 3rd harmonic.
Mechanical Engineering
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Saikumar, Niranjan (mentor), Spronck, Jo (graduation committee), Goosen, Hans (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Reset control; precision control; Motion control; describing function analysis; HOSIDF
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APA ·
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APA (6th Edition):
Salman, Y. (. (2018). Tuning a Novel Reset Element through Describing Function and HOSIDF Analysis. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:2236e1f6-4dc5-4f7f-96da-fc83ead69445
Chicago Manual of Style (16th Edition):
Salman, Yusuf (author). “Tuning a Novel Reset Element through Describing Function and HOSIDF Analysis.” 2018. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:2236e1f6-4dc5-4f7f-96da-fc83ead69445.
MLA Handbook (7th Edition):
Salman, Yusuf (author). “Tuning a Novel Reset Element through Describing Function and HOSIDF Analysis.” 2018. Web. 10 Apr 2021.
Vancouver:
Salman Y(. Tuning a Novel Reset Element through Describing Function and HOSIDF Analysis. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:2236e1f6-4dc5-4f7f-96da-fc83ead69445.
Council of Science Editors:
Salman Y(. Tuning a Novel Reset Element through Describing Function and HOSIDF Analysis. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:2236e1f6-4dc5-4f7f-96da-fc83ead69445
Delft University of Technology
13.
van der Nolle, Rens (author).
Production, design and control of P(VDF-TrFE-CTFE) relaxor-ferroelectric actuators.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:b59a695b-ad30-4432-b469-134b64e4713f
► The amount of research and development in smart materials is increasing every year. These smart materials offer a solution to integrated and distributed actuation and…
(more)
▼ The amount of research and development in smart materials is increasing every year. These smart materials offer a solution to integrated and distributed actuation and sensing. Pressure sensors, acoustic transducers, deformable mirrors, micro-robotics and stiffness control of flapping wings are some applicationswhere these smart materials show great promise over their external actuated counterparts. New materials are developed and reported regularly, P(VDF-TrFE-CTFE) a relaxor-ferroelectric polymer is such a smart material. Relaxor ferroelectric materials can convert electrical signals to mechanical strain and vice versa, allowing the possibility to act as an actuator and sensor in one. This relatively new material has some promising parameters, with a dielectric constant of 50, Young’s modulus of 0.4 GPa, coupling factor of 0.3 and transparency above 88%, where 100% is no disruption of light at all. With these properties P(VDF-TrFE-CTFE) can serve as a useful component in mechatronic systems. In this thesis, the possibilities in production and enhancement of P(VDF-TrFE-CTFE) are discussed and experimentally validated. The piezoelectric and electrostrictive response in such polymers are formed through polarisation and annealing processes. This thesis shall prove as a guide to achieve the maximum electromechanical performance of a relaxor-ferroelectric polymer, a new method to successfully polarise this relaxor ferroelectric polymer is presented and a novel way to remove residual stresses after spin casting of thin film polymers is proposed.
PME-MSD
Advisors/Committee Members: Hossein Nia Kani, Hassan (mentor), Herder, Just (graduation committee), Goosen, Hans (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Relaxor-ferroelectric; piezoelectric; polymer; smart materials; production; control
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APA (6th Edition):
van der Nolle, R. (. (2017). Production, design and control of P(VDF-TrFE-CTFE) relaxor-ferroelectric actuators. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b59a695b-ad30-4432-b469-134b64e4713f
Chicago Manual of Style (16th Edition):
van der Nolle, Rens (author). “Production, design and control of P(VDF-TrFE-CTFE) relaxor-ferroelectric actuators.” 2017. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:b59a695b-ad30-4432-b469-134b64e4713f.
MLA Handbook (7th Edition):
van der Nolle, Rens (author). “Production, design and control of P(VDF-TrFE-CTFE) relaxor-ferroelectric actuators.” 2017. Web. 10 Apr 2021.
Vancouver:
van der Nolle R(. Production, design and control of P(VDF-TrFE-CTFE) relaxor-ferroelectric actuators. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:b59a695b-ad30-4432-b469-134b64e4713f.
Council of Science Editors:
van der Nolle R(. Production, design and control of P(VDF-TrFE-CTFE) relaxor-ferroelectric actuators. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:b59a695b-ad30-4432-b469-134b64e4713f
Delft University of Technology
14.
He, Xuanmin (author).
Cryo Sample Transfer Solution of Correlated Light and Electron Microscopy.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:195339c9-07bf-4a25-9de3-bf75e66b40ef
► The Nobel Prize in Chemistry in 2017 went to the development of cryo-electron microscopy, which contributed to the discovery of new cells and viruses, the…
(more)
▼ The Nobel Prize in Chemistry in 2017 went to the development of cryo-electron microscopy, which contributed to the discovery of new cells and viruses, the diagnosis of unknown diseases, the mapping of human genomes and the manufacturing of semiconductors. Cryo Correlative light and electron microscopy (Cryo-CLEM), is the combination of using fluorescence microscopy and cryo-electron microscopy to image cryo-immobilized bio-samples. These samples (at a temperature lower than −165ᵒC), require critical conditions in preparation and preservation to prevent contamination and heating which have a negative influence on the imaging results. In the current sample transfer workflow, almost 90% of the samples transferred end up being wasted due to the unideal protection and transfer gap. Therefore, an integrated high-vacuum sample transfer system which fits the interfaces of CLEM devices and actively protects the samples from heating and contamination in transfer has been designed to conquer the problems, ensure better imaging results, and increase the process yield. COMSOL simulations on its thermal and mechanical behaviors have been carried out to theoretically verify and iterate the design. The new transfer system provides a cheaper, faster, easier, more contamination-free, more temperature-stable, more user-friendly workflow that can increase the yield of sample transfer from 10% to 90%.
Mechanical Engineering
Advisors/Committee Members: den Hoedt, Sander (graduation committee), Spronck, Jo (mentor), Ghatkesar, Murali (graduation committee), Hossein Nia Kani, Hassan (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Plunge freezing; Thermal modelling; Sample transfer; Design; Contamination; Devitrification; FIB/SEM; TEM; Vitrobot
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APA ·
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Manager
APA (6th Edition):
He, X. (. (2019). Cryo Sample Transfer Solution of Correlated Light and Electron Microscopy. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:195339c9-07bf-4a25-9de3-bf75e66b40ef
Chicago Manual of Style (16th Edition):
He, Xuanmin (author). “Cryo Sample Transfer Solution of Correlated Light and Electron Microscopy.” 2019. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:195339c9-07bf-4a25-9de3-bf75e66b40ef.
MLA Handbook (7th Edition):
He, Xuanmin (author). “Cryo Sample Transfer Solution of Correlated Light and Electron Microscopy.” 2019. Web. 10 Apr 2021.
Vancouver:
He X(. Cryo Sample Transfer Solution of Correlated Light and Electron Microscopy. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:195339c9-07bf-4a25-9de3-bf75e66b40ef.
Council of Science Editors:
He X(. Cryo Sample Transfer Solution of Correlated Light and Electron Microscopy. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:195339c9-07bf-4a25-9de3-bf75e66b40ef
Delft University of Technology
15.
Singh, Aditya (author).
Temperature variation effects on electrostrictive actuators and its quasi-static compensation.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:a508d0a5-1536-449e-aa03-9f8f933c17ec
► Deformable mirrors are used for changing the wavefront of the reflected light by using one or more actuators behind the mirror to physically deform it.…
(more)
▼ Deformable mirrors are used for changing the wavefront of the reflected light by using one or more actuators behind the mirror to physically deform it. This application is widely used in telescopes to compensate for atmospheric aberrations using a feedback wavefront sensor. Recent advances in lithography process require more precise wavefront control than ever, and deformable mirrors are being considered as a suitable optical unit in the optical column of lithography systems. Using electrostrictive materials for the actuation provides benefits like less hysteresis, no creep, and fast response time. One major limiting factor in the use of such materials is the high sensitivity of strain response to temperature. Due to application constraints a position sensor is not available for the position control. This leads to a requirement of temperature dependent strain-field model in a feedforward control scheme to compensate for the temperature changes and predict the position to sufficient accuracy. In this thesis, different electrostrictive models are explored, and through high frequency impedance measurements and precise quasi-static strain-field experiments, actuator response is analyzed and model parameters are estimated. The parameters are then used in a feedforward control, with temperature sensor, to compensate for the temperature change resulting in decrease of temperature induced strain variation by 75%-87%. Furthermore, an optimum voltage region is identified for maximum actuation performance with compensation of temperature induced strain variation. Lastly, a novel temperature self-sensing approach is explored for which a patent application is filed.
Mechanical Engineering
Advisors/Committee Members: Jansen, Bas (mentor), Hossein Nia Kani, Hassan (graduation committee), Vandervelden, Ruben (graduation committee), Hunt, Andres (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Electrostriction; Temperature Model; PMN-PT; Feedforward controller
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APA ·
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APA (6th Edition):
Singh, A. (. (2019). Temperature variation effects on electrostrictive actuators and its quasi-static compensation. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:a508d0a5-1536-449e-aa03-9f8f933c17ec
Chicago Manual of Style (16th Edition):
Singh, Aditya (author). “Temperature variation effects on electrostrictive actuators and its quasi-static compensation.” 2019. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:a508d0a5-1536-449e-aa03-9f8f933c17ec.
MLA Handbook (7th Edition):
Singh, Aditya (author). “Temperature variation effects on electrostrictive actuators and its quasi-static compensation.” 2019. Web. 10 Apr 2021.
Vancouver:
Singh A(. Temperature variation effects on electrostrictive actuators and its quasi-static compensation. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:a508d0a5-1536-449e-aa03-9f8f933c17ec.
Council of Science Editors:
Singh A(. Temperature variation effects on electrostrictive actuators and its quasi-static compensation. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:a508d0a5-1536-449e-aa03-9f8f933c17ec
Delft University of Technology
16.
Nagda, Neel (author).
Variable Fractional Order (VFO) PID Control for Precision Positioning: A Frequency Domain Approach.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:99998698-7287-47e9-acd0-9d7cc1d78670
► Stringent control demands from the high-tech mechatronics industry have warranted the need to explore potentially advantageous non-linear controllers. Variable Fractional Order (VFO) calculus provides one…
(more)
▼ Stringent control demands from the high-tech mechatronics industry have warranted the need to explore potentially advantageous non-linear controllers. Variable Fractional Order (VFO) calculus provides one such avenue to build non-linear PID-like controllers. VFO calculus is the generalization of integer order differentiation and integration, where, in addition to the possibility of orders being real or even complex, the orders can vary as a function of a variable like time, temperature, etc. However, in this nascent field of VFO control, the focus has mainly been on controller tuning by time domain optimization of the performance for certain specific trajectories or cost functions. On the other hand, Frequency domain tools allow for analysis and tuning of controllers for performance over a wide range of exogenous inputs. For smooth adoption into industry, it is important to develop a frequency domain framework for working with VFO control. Describing function (DF) analysis is a method to obtain an approximate Frequency Response Function (FRF)-like function for non-linear systems. In this thesis, DF analysis is used for developing VFO PID controllers in the frequency domain from an industry compatibility point of view and the closed loop performance of these controllers in controlling a precision positioning stage is examined.
Mechanical Engineering | Systems and Control
Advisors/Committee Members: van Wingerden, Jan-Willem (graduation committee), Giordano, Giulia (mentor), Hossein Nia Kani, Hassan (mentor), Saikumar, Niranjan (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: PID; Variable Fractional Order calculus; Describing Function analysis; SIDF; HOSIDFs; Precision positioning
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APA (6th Edition):
Nagda, N. (. (2019). Variable Fractional Order (VFO) PID Control for Precision Positioning: A Frequency Domain Approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:99998698-7287-47e9-acd0-9d7cc1d78670
Chicago Manual of Style (16th Edition):
Nagda, Neel (author). “Variable Fractional Order (VFO) PID Control for Precision Positioning: A Frequency Domain Approach.” 2019. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:99998698-7287-47e9-acd0-9d7cc1d78670.
MLA Handbook (7th Edition):
Nagda, Neel (author). “Variable Fractional Order (VFO) PID Control for Precision Positioning: A Frequency Domain Approach.” 2019. Web. 10 Apr 2021.
Vancouver:
Nagda N(. Variable Fractional Order (VFO) PID Control for Precision Positioning: A Frequency Domain Approach. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:99998698-7287-47e9-acd0-9d7cc1d78670.
Council of Science Editors:
Nagda N(. Variable Fractional Order (VFO) PID Control for Precision Positioning: A Frequency Domain Approach. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:99998698-7287-47e9-acd0-9d7cc1d78670
Delft University of Technology
17.
Chen, Linda (author).
Development of CRONE reset control.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5
► In high-tech industry (sub)nanometre precision motion control is essential. For example wafer scanners, used for production of integrated circuits, have to provide (sub)nanometre precision positioning…
(more)
▼ In high-tech industry (sub)nanometre precision motion control is essential. For example wafer scanners, used for production of integrated circuits, have to provide (sub)nanometre precision positioning whilst satisfying challenging requirements on speed at the same time. It is in demanding cases like this that different requirements begin to conflict with each other. A fundamental trade-off between robustness and performance exists as an inevitable result of the waterbed effect in linear control. PID controllers, which have been an industry-standard for many years, do not satisfy the ever increasing demands. In this MSc thesis a novel reset control synthesis method is proposed: CRONE reset control, which combines a robust fractional CRONE controller (Commande Robuste d’Ordre Non-Entier) with non-linear reset control to overcome waterbed effect. In CRONE control, robustness is achieved against gain deviations by creation of constant phase behaviour around bandwidth with the use of fractional operators. The use of fractional operators also introduces more freedom in shaping the open- loop frequency response, allowing fractional factors in Bode’s gain-phase relation. However, waterbed effect remains, which motivates introduction of non-linear reset control in the CRONE design. In reset control, controller states are reset when the error between output- and reference- signal is zero. In frequency domain, using describing function analysis it is predicted that reset filters generate less phase lag for similar gain behaviour. For instance, a reset integrator gives a phase lag of about 38 degrees, which is 52 degrees less compared to the linear integrator. This allows for relief from Bode’s gain-phase relation, breaking aforementioned trade-offs. In the new controller design, reset phase advantage is approximated using describing function analysis and used to achieve better open-loop shape. New design rules for CRONE reset control have been developed in this thesis. Three different reset control strategies have been investigated: integrator reset, lag reset and lead- lag/lag-lead reset. For these controllers, a two-degree-of-freedom non-linearity tuning CRONE reset control structure has been developed. This control structure has been implemented digitally within a MATLAB/Simulink environment on a Lorentz-actuated (dual) precision stage via a real-time dSPACE DS1103 controller interface. For the implemented controllers sufficient quadratic stability has been shown using the Hβ-condition. It has been shown that simulated frequency responses using describing function correspond well to experimental identified frequency responses. Moreover, frequency domain measurements have shown that better performance for CRONE reset control can be achieved for same phase margin compared to linear CRONE. Relief from both waterbed effect and Bode’s gain-phase relation has been accomplished. Furthermore, for the same bandwidth, average noise reduction between 1.79dB and 3.93dB has been attained at a number of distinct…
Advisors/Committee Members: Saikumar, Niranjan (mentor), Hossein Nia Kani, Hassan (mentor), Baldi, Simone (mentor), van Wingerden, Jan-Willem (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: reset control; describing function analysis; loop shaping; fractional order control; CRONE; robust control; precision positioning
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APA (6th Edition):
Chen, L. (. (2017). Development of CRONE reset control. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5
Chicago Manual of Style (16th Edition):
Chen, Linda (author). “Development of CRONE reset control.” 2017. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5.
MLA Handbook (7th Edition):
Chen, Linda (author). “Development of CRONE reset control.” 2017. Web. 10 Apr 2021.
Vancouver:
Chen L(. Development of CRONE reset control. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5.
Council of Science Editors:
Chen L(. Development of CRONE reset control. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:5370c610-4112-49e9-b860-9d625d5b40c5
Delft University of Technology
18.
Hou, Xiaojun (author).
Tuning of the ‘Constant in gain Lead in phase’ Element for Mass-like Systems.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:ef3007d4-36e9-498c-886a-f31ff7549381
► The development of the high-tech industry has pushed the requirements of motion applications to extremes regarding precision, speed and robustness. A clear example is given…
(more)
▼ The development of the high-tech industry has pushed the requirements of motion applications to extremes regarding precision, speed and robustness. A clear example is given by the wafer and reticle stages that require rigorous demands like robust nanometer precision and high-speed motion profiles to ensure product quality and production efficiency. Industrial workhorse Proportional Integral Derivative (PID) has been widely used for its simple implementation and good performance. However, PID is insufficient to meet the ever-increasing demands in the high-tech industry due to its inherent constraints of linear controllers such as the waterbed effect. To overcome these fundamental limitations, researchers have turned to nonlinear controllers. Nevertheless, most of the nonlinear controllers are difficult to design and implement and thus are not widely accepted in the industry. Reset control is a nonlinear controller that is easy to implement and design since it maintains compatibility with the PID loop shaping technique using a pseudo-linear analysis tool named describing function method. However, the reset control as a nonlinear controller also introduces high order harmonics to the system that can negatively affect system performance by causing unwanted dynamics. Hence, describing function analysis as a linear approximation approach that only considers first harmonics is not accurate enough. Recently, a theory to analyze high order harmonics of nonlinear system in frequency domain termed higher order sinusoidal describing function has been developed, which enables the possibility to perform more precise analysis on reset systems. The majority of research on reset control has focused on the phase lag reduction but a novel reset element proposed in literature termed ”Constant in gain, Lead in phase” (CgLp) is used to provide broadband phase compensation and has been shown to improve system performance. However, there is no systematic designing and tuning approach in literature such that the full advantage of CgLp elements is extracted. This work focuses on the tuning of the CgLp elements in order to obtain optimal performance. High order harmonics are also considered in the tuning analysis since they are critical to system performance due to the effect of unwanted dynamics. When a group of CgLp elements are designed to provide pre-determined phase compensation at the crossover frequency, it is seen that the optimal tracking precision performance is always obtained with the case that has the highest frequency of third order harmonic peak and has almost the smallest magnitude of high order harmonics at low frequencies. Moreover, the second order CgLp controllers are observed to outperform the first order CgLp controller regarding tracking precision. On the other hand, configurations that have the lowest magnitude of third order harmonic at high frequency are found to have the best noise attenuation performance.
Mechanical Engineering | Mechatronic System Design (MSD)
Advisors/Committee Members: Ahmadi Dastjerdi, Ali (mentor), Saikumar, Niranjan (graduation committee), Hossein Nia Kani, Hassan (mentor), Herder, Just (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Reset control; Motion Control; describing function analysis; HOSIDF; CgLp
Record Details
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Record Details
Similar Records
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Hou, X. (. (2019). Tuning of the ‘Constant in gain Lead in phase’ Element for Mass-like Systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:ef3007d4-36e9-498c-886a-f31ff7549381
Chicago Manual of Style (16th Edition):
Hou, Xiaojun (author). “Tuning of the ‘Constant in gain Lead in phase’ Element for Mass-like Systems.” 2019. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:ef3007d4-36e9-498c-886a-f31ff7549381.
MLA Handbook (7th Edition):
Hou, Xiaojun (author). “Tuning of the ‘Constant in gain Lead in phase’ Element for Mass-like Systems.” 2019. Web. 10 Apr 2021.
Vancouver:
Hou X(. Tuning of the ‘Constant in gain Lead in phase’ Element for Mass-like Systems. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:ef3007d4-36e9-498c-886a-f31ff7549381.
Council of Science Editors:
Hou X(. Tuning of the ‘Constant in gain Lead in phase’ Element for Mass-like Systems. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:ef3007d4-36e9-498c-886a-f31ff7549381
Delft University of Technology
19.
Brummelhuis, Karst (author).
Adaptive feedforward for reset control systems: Application in precision motion control.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:fbc96aa7-a794-49af-b510-861a730ad001
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Brummelhuis, K. (. (2019). Adaptive feedforward for reset control systems: Application in precision motion control. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:fbc96aa7-a794-49af-b510-861a730ad001
Chicago Manual of Style (16th Edition):
Brummelhuis, Karst (author). “Adaptive feedforward for reset control systems: Application in precision motion control.” 2019. Masters Thesis, Delft University of Technology. Accessed April 10, 2021.
http://resolver.tudelft.nl/uuid:fbc96aa7-a794-49af-b510-861a730ad001.
MLA Handbook (7th Edition):
Brummelhuis, Karst (author). “Adaptive feedforward for reset control systems: Application in precision motion control.” 2019. Web. 10 Apr 2021.
Vancouver:
Brummelhuis K(. Adaptive feedforward for reset control systems: Application in precision motion control. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Apr 10].
Available from: http://resolver.tudelft.nl/uuid:fbc96aa7-a794-49af-b510-861a730ad001.
Council of Science Editors:
Brummelhuis K(. Adaptive feedforward for reset control systems: Application in precision motion control. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:fbc96aa7-a794-49af-b510-861a730ad001
. 
Open Access Theses and Dissertations