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Papers by Nandish Calchand

Research paper thumbnail of Port hamiltonian modeling of MSMA based actuator: toward a thermodynamically consistent formulation* *The contribution of authors has been done within the context of the French National Research Agency sponsored project HAMECMOPSYS number ANR-11-BS03-0002. Further information is available at www....

IFAC Proceedings Volumes, 2012

This paper presents a thermodynamically consistent model of MSMA (Magnetic Shape Memory Alloys) u... more This paper presents a thermodynamically consistent model of MSMA (Magnetic Shape Memory Alloys) under port Hamiltonian framework. It is based on previous works on MSMA proposed in (Gauthier et al., 2008; Calchand et al., 2011). The main difference lies in the choice of the state variables and manipulated thermodynamic forces. Furthermore in (Gauthier et al., 2008), subsequent experiments revealed a highly hysteretic behavior of these materials. Here, the simplified hysteretic behavior is incorporated into the port-hamiltonian model to obtain a finer and more precise model. Such modeling will allow the use of a wide range of energy based methods to design the associated control system. The paper ends with some extensions to more complex hysterestic phenomena by using Preisach like model. First ideas are proposed to extend the previous physical model to systems with internal hysteretic loops.

Research paper thumbnail of Modelisation et commande des alliages à mémoire de forme magnétique dans le cadre des hamiltonien à port s

Active materials are a class of material which react to an external stimulus such as temperature,... more Active materials are a class of material which react to an external stimulus such as temperature,photons, magnetic field or electric field. These stimuli cause some properties of the material tochange usually their length. Some examples are piezoelectric material which change their lengthunder the action of an electric field, Shape Memory alloys which alter their shape on applicationof heat, and more recently Magnetic Shape Memory Alloys (MSMA) which undergo a deformationon application of a magnetic field. Harnessing this property of MSMAs, we hereby present anactuator using this novel material. We extensively make use of an energy framework, namely thethermodynamics of irreversible processes to model the material. This framework has been provento be very versatile in modelling energy exchange and transformation as it occurs in the materialand also to incorporate hysteresis which arises naturally in such materials. Another advantage of thismethod is its ability to give us constituti...

Research paper thumbnail of A comprehensive approach for the design of intelligent mechanisms with model based control methods

Mechatronics design now requires a more holistic approach than ever. This is due to the fact that... more Mechatronics design now requires a more holistic approach than ever. This is due to the fact that components are becoming more intelligent and provide much more functionality. The usual approach in engineering is to design the mechanical components, electrical components and software seperately and then assembled them together to create a mechatronics system. For the design of complex industrial products nowadays, this sequential approach causes problems, given the need to optimize the system-level product performance and the difficulties to do so in a process that is focused on the design of individual components and functions. This can be resolved by adopting a systems design approach, in which all components and their controllers are represented within a system model that can be optimized. In this paper, we concentrate on the design of controllers. Though many ways exist to design controllers, MPC control[1] has been found to be very versatile. It has the advantages of being able...

Research paper thumbnail of Modeling and Control of Magnetic Shape Memory Alloys using Port-Hamiltonian Framework

Active materials are a class of material which react to an external stimulus such as temperature,... more Active materials are a class of material which react to an external stimulus such as temperature,photons, magnetic field or electric field. These stimuli cause some properties of the material tochange usually their length. Some examples are piezoelectric material which change their lengthunder the action of an electric field, Shape Memory alloys which alter their shape on applicationof heat, and more recently Magnetic Shape Memory Alloys (MSMA) which undergo a deformationon application of a magnetic field. Harnessing this property of MSMAs, we hereby present anactuator using this novel material. We extensively make use of an energy framework, namely thethermodynamics of irreversible processes to model the material. This framework has been provento be very versatile in modelling energy exchange and transformation as it occurs in the materialand also to incorporate hysteresis which arises naturally in such materials. Another advantage of thismethod is its ability to give us constituti...

Research paper thumbnail of Irreversible Port-Hamiltonian Formulation of some Non-isothermal Electrochemical Processes

Research paper thumbnail of Irreversible Thermodynamics and Smart Materials Systems Modelling. Example of Magnetic Shape Memory Actuators

1st IFAC Workshop on Thermodynamic Foundations of Mathematical Systems Theory, 2013, 2013

Smart systems is a very promising technology to design high performance and highly integrated mec... more Smart systems is a very promising technology to design high performance and highly integrated mechatronic devices. Nevertheless, one of the main drawbacks of these devices is the complex non-linear and irreversible behaviour of the active materials at the heart of such systems. To solve these difficulties, this paper presents a thermodynamics based procedure to model more accurately active materials. After a review on energy conversion modelling techniques, the paper extends classical thermodynamics procedure to the case of irreversible processes. The use of internal state variables helps to improve the physical understanding of non-linear and irreversible mechanisms in smart materials. This procedure is applied to Magnetic Shape Memory Alloys actuators and the results are quite encouraging. Modelling methods proposed in this paper improves the understanding of complex active materials for smart systems.

Research paper thumbnail of From Canonical Hamiltonian to Port-Hamiltonian Modeling: Application to Magnetic Shape Memory Alloys Actuators

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 2011

This paper presents the modelling of an actuator based on Magnetic Shape Memory Alloys (MSMA). Th... more This paper presents the modelling of an actuator based on Magnetic Shape Memory Alloys (MSMA). The actuation principle relies on the ability of the material to change its shape under the application of a magnetic field. Previous models proposed by authors were based on canonical (symplectic) Hamiltonian modeling and thermodynamics of irreversible processes. These models, though physically cogent, are non-minimal differential algebraic dynamical models and hence less adapted for control purposes.This paper therefore proposes a modified and systemoriented modeling procedure which lends itself naturally to a port-Hamiltonian model. The latter is found to be a minimal realization of the above whereby interconnection between subsystems is clearly visible. Using Lagrange multipliers, constraints which arise due to causality and interconnection are expressed. In the last section, Differential Algebraic Equations (DAE) resulting from previous models are reduced to Ordinary Differential Equations (ODE) and by using coordinate transformations, constraints are decoupled from the system input/output. The resulting model is well-suited for control.

Research paper thumbnail of Structured Energy Approach for the Modeling of Flexible Structures

Applications to Multiscale Manipulations, 2013

Research paper thumbnail of Magnetic Shape Memory Alloys as smart materials for micro-positioning devices

In the field of microrobotics, actuators based on smart materials are predominant because of very... more In the field of microrobotics, actuators based on smart materials are predominant because of very good precision, integration capabilities and high compactness. This paper presents the main characteristics of Magnetic Shape Memory Alloys as new candidates for the design of micromechatronic devices. The thermo-magneto-mechanical energy conversion process is first presented followed by the adequate modeling procedure required to design actuators. Finally, some actuators prototypes realized at the Femto-ST institute are presented, including a push-pull bidirectional actuator. Some results on the control and performances of these devices conclude the paper.

Research paper thumbnail of Port hamiltonian modeling of MSMA based actuator: toward a thermodynamically consistent formulation* *The contribution of authors has been done within the context of the French National Research Agency sponsored project HAMECMOPSYS number ANR-11-BS03-0002. Further information is available at www....

IFAC Proceedings Volumes, 2012

This paper presents a thermodynamically consistent model of MSMA (Magnetic Shape Memory Alloys) u... more This paper presents a thermodynamically consistent model of MSMA (Magnetic Shape Memory Alloys) under port Hamiltonian framework. It is based on previous works on MSMA proposed in (Gauthier et al., 2008; Calchand et al., 2011). The main difference lies in the choice of the state variables and manipulated thermodynamic forces. Furthermore in (Gauthier et al., 2008), subsequent experiments revealed a highly hysteretic behavior of these materials. Here, the simplified hysteretic behavior is incorporated into the port-hamiltonian model to obtain a finer and more precise model. Such modeling will allow the use of a wide range of energy based methods to design the associated control system. The paper ends with some extensions to more complex hysterestic phenomena by using Preisach like model. First ideas are proposed to extend the previous physical model to systems with internal hysteretic loops.

Research paper thumbnail of Modelisation et commande des alliages à mémoire de forme magnétique dans le cadre des hamiltonien à port s

Active materials are a class of material which react to an external stimulus such as temperature,... more Active materials are a class of material which react to an external stimulus such as temperature,photons, magnetic field or electric field. These stimuli cause some properties of the material tochange usually their length. Some examples are piezoelectric material which change their lengthunder the action of an electric field, Shape Memory alloys which alter their shape on applicationof heat, and more recently Magnetic Shape Memory Alloys (MSMA) which undergo a deformationon application of a magnetic field. Harnessing this property of MSMAs, we hereby present anactuator using this novel material. We extensively make use of an energy framework, namely thethermodynamics of irreversible processes to model the material. This framework has been provento be very versatile in modelling energy exchange and transformation as it occurs in the materialand also to incorporate hysteresis which arises naturally in such materials. Another advantage of thismethod is its ability to give us constituti...

Research paper thumbnail of A comprehensive approach for the design of intelligent mechanisms with model based control methods

Mechatronics design now requires a more holistic approach than ever. This is due to the fact that... more Mechatronics design now requires a more holistic approach than ever. This is due to the fact that components are becoming more intelligent and provide much more functionality. The usual approach in engineering is to design the mechanical components, electrical components and software seperately and then assembled them together to create a mechatronics system. For the design of complex industrial products nowadays, this sequential approach causes problems, given the need to optimize the system-level product performance and the difficulties to do so in a process that is focused on the design of individual components and functions. This can be resolved by adopting a systems design approach, in which all components and their controllers are represented within a system model that can be optimized. In this paper, we concentrate on the design of controllers. Though many ways exist to design controllers, MPC control[1] has been found to be very versatile. It has the advantages of being able...

Research paper thumbnail of Modeling and Control of Magnetic Shape Memory Alloys using Port-Hamiltonian Framework

Active materials are a class of material which react to an external stimulus such as temperature,... more Active materials are a class of material which react to an external stimulus such as temperature,photons, magnetic field or electric field. These stimuli cause some properties of the material tochange usually their length. Some examples are piezoelectric material which change their lengthunder the action of an electric field, Shape Memory alloys which alter their shape on applicationof heat, and more recently Magnetic Shape Memory Alloys (MSMA) which undergo a deformationon application of a magnetic field. Harnessing this property of MSMAs, we hereby present anactuator using this novel material. We extensively make use of an energy framework, namely thethermodynamics of irreversible processes to model the material. This framework has been provento be very versatile in modelling energy exchange and transformation as it occurs in the materialand also to incorporate hysteresis which arises naturally in such materials. Another advantage of thismethod is its ability to give us constituti...

Research paper thumbnail of Irreversible Port-Hamiltonian Formulation of some Non-isothermal Electrochemical Processes

Research paper thumbnail of Irreversible Thermodynamics and Smart Materials Systems Modelling. Example of Magnetic Shape Memory Actuators

1st IFAC Workshop on Thermodynamic Foundations of Mathematical Systems Theory, 2013, 2013

Smart systems is a very promising technology to design high performance and highly integrated mec... more Smart systems is a very promising technology to design high performance and highly integrated mechatronic devices. Nevertheless, one of the main drawbacks of these devices is the complex non-linear and irreversible behaviour of the active materials at the heart of such systems. To solve these difficulties, this paper presents a thermodynamics based procedure to model more accurately active materials. After a review on energy conversion modelling techniques, the paper extends classical thermodynamics procedure to the case of irreversible processes. The use of internal state variables helps to improve the physical understanding of non-linear and irreversible mechanisms in smart materials. This procedure is applied to Magnetic Shape Memory Alloys actuators and the results are quite encouraging. Modelling methods proposed in this paper improves the understanding of complex active materials for smart systems.

Research paper thumbnail of From Canonical Hamiltonian to Port-Hamiltonian Modeling: Application to Magnetic Shape Memory Alloys Actuators

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 2011

This paper presents the modelling of an actuator based on Magnetic Shape Memory Alloys (MSMA). Th... more This paper presents the modelling of an actuator based on Magnetic Shape Memory Alloys (MSMA). The actuation principle relies on the ability of the material to change its shape under the application of a magnetic field. Previous models proposed by authors were based on canonical (symplectic) Hamiltonian modeling and thermodynamics of irreversible processes. These models, though physically cogent, are non-minimal differential algebraic dynamical models and hence less adapted for control purposes.This paper therefore proposes a modified and systemoriented modeling procedure which lends itself naturally to a port-Hamiltonian model. The latter is found to be a minimal realization of the above whereby interconnection between subsystems is clearly visible. Using Lagrange multipliers, constraints which arise due to causality and interconnection are expressed. In the last section, Differential Algebraic Equations (DAE) resulting from previous models are reduced to Ordinary Differential Equations (ODE) and by using coordinate transformations, constraints are decoupled from the system input/output. The resulting model is well-suited for control.

Research paper thumbnail of Structured Energy Approach for the Modeling of Flexible Structures

Applications to Multiscale Manipulations, 2013

Research paper thumbnail of Magnetic Shape Memory Alloys as smart materials for micro-positioning devices

In the field of microrobotics, actuators based on smart materials are predominant because of very... more In the field of microrobotics, actuators based on smart materials are predominant because of very good precision, integration capabilities and high compactness. This paper presents the main characteristics of Magnetic Shape Memory Alloys as new candidates for the design of micromechatronic devices. The thermo-magneto-mechanical energy conversion process is first presented followed by the adequate modeling procedure required to design actuators. Finally, some actuators prototypes realized at the Femto-ST institute are presented, including a push-pull bidirectional actuator. Some results on the control and performances of these devices conclude the paper.