Luc Baron | École Polytechnique de Montréal (original) (raw)
Papers by Luc Baron
The International Journal of Advanced Manufacturing Technology, 2015
In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force... more In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force. A clamp is needed on the opposite side of the panel to limit such effects. The support must be able to withstand the thrust force generated by the milling process. In this paper, a specific model for torus cutter milling force and a general milling force model have been simulated to predict the cutting forces. In order to get higher cutting efficiency, the torus cutter needs to adopt different tilt angle relative to the workpiece which changes the thrust force. An equation has been developed to predict the resulting thrust force on the skin panel at different tilting angle. Simulated thrust force results have been validated against dynamometer readings acquired during milling operation.
Transactions of The Canadian Society for Mechanical Engineering, Jun 1, 2016
Designing mechatronic systems is known to be both a very complex and tedious process. This comple... more Designing mechatronic systems is known to be both a very complex and tedious process. This complexity is due to the high number of system components, their multi-physical aspects, the couplings between different engineering domains and the interacting and/or conflicting design objectives. Due to this inherent complexity and the dynamic coupling between subsystems of mechatronic systems, a systematic and multi-objective design approach is needed to replace the traditionally used sequential design methods. The traditional approaches usually lead to functional but non optimal designs solutions. In this paper, and based on an integrated and concurrent design approach called "Design-for-Control" (DFC), a quadrotor UAV equipped with a stereo visual servoing system is used as a case study. After presenting the dynamics and the control model of the Quadrotor UAV and its visual servoing system, the design process has been performed in four iterations and as expected, the control performance of the system has been significantly improved after finishing the final design iteration.
The multidisciplinary nature of Mechatronic Systems (MeSy) results in a highly complex design tas... more The multidisciplinary nature of Mechatronic Systems (MeSy) results in a highly complex design task, and it is believed that using an integrated approach to design would help reduce this complexity. However, integrated design is hard to implement due to the existing interactions between the components of MeSy. Some of these interactions are referred to as dependencies, and can affect the performance of MeSy while increasing the design task complexity. It is thus necessary to deal with them as early as possible. Although there are some methods to model dependencies, no methods exist to deal specifically with negative effect dependencies. Therefore, we propose a method that enables the identification and assess negative dependencies that exist within a mechatronic system. We first define negative dependencies between two components through four dimensions (affecting level, affected level, effect attenuation and functional closeness) and then assess these dimensions using fuzzy linguistic variables. We then demonstrate the effectiveness of the method by using a quadcopter drone as a case study which shows that it is possible to gain knowledge regarding potential design problems early on.
Journal of Cleaner Production, Dec 1, 2019
Users may download and print one copy of any publication from the public portal for the purpose... more Users may download and print one copy of any publication from the public portal for the purpose of private study or research. You may not further distribute the material or use it for any profit-making activity or commercial gain You may freely distribute the URL identifying the publication in the public portal If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim.
Engineering Applications of Artificial Intelligence, Jun 1, 2019
Mechatronics design is complex by nature as it involves a large number of couplings and interdepe... more Mechatronics design is complex by nature as it involves a large number of couplings and interdependencies between subsystems and components alongside a variety of sometimes contradicting objectives and design constraints. Mechatronics design activity requires cross-disciplinary and multi-objective thinking. In this paper, a fuzzy-based approach for the modeling of a unified performance evaluation index in the detailed design phase is presented. This index acts as a multidisciplinary objective function aggregating all the design criteria and requirements from various disciplines and subsystems while taking into account the interactions and correlations among the objectives. Then this function is optimized using a particle swarm optimization algorithm alongside all the constraints facing each subsystem. As an application, the mechatronics design of a vision-guided quadrotor unmanned aerial vehicle is carried out to demonstrate the effectiveness of the proposed method. Thus, a thorough modeling of system dynamics, structure, aerodynamics, flight control and visual servoing system is carried out to provide the designer with all necessary design variables and requirements. The final results and related computer simulations show the effectiveness of the proposed method in finding solutions for an optimal mechatronic design.
International Journal of Abrasive Technology
Ce fichier a été téléchargé à partir de PolyPublie, le dépôt institutionnel de Polytechnique Mont... more Ce fichier a été téléchargé à partir de PolyPublie, le dépôt institutionnel de Polytechnique Montréal This file has been downloaded from PolyPublie, the institutional repository of Polytechnique Montréal http://publications.polymtl.ca
This paper presents a quantitative study on the effects of angle variation-disposition of actuato... more This paper presents a quantitative study on the effects of angle variation-disposition of actuators on the compliance of a class of Deformable Hybrid Serial-Parallel Manipulators (DHSPM). Although compliance is desired to achieve a secure and stable maneuverability, high stiffness is good to provide precision and reject perturbations. Thus, the compromises between compliance and stiffness can have different profiles along the degrees of freedom of deformable robots. The study is based on the simulation of the model of the robot derived from computational mechanics (Finite Element Method) and is conducted on a DHSPM with antagonistic actuation. We show that antagonistic actuation predominantly increases stiffness in torsion when activated and that by changing the orientation of the actuator it is possible to increase compliance in one direction while decreasing it in another. Finally, we provide guidelines for the design of soft robots having a parallel structure such as deformable h...
Journal of Computational Design and Engineering, 2020
Designing a mechatronic system is a complex task since it deals with a high number of system comp... more Designing a mechatronic system is a complex task since it deals with a high number of system components with multidisciplinary nature in the presence of interacting design objectives. Currently, the sequential design is widely used by designers in industries that deal with different domains and their corresponding design objectives separately leading to a functional but not necessarily an optimal result. Consequently, the need for a systematic and multiobjective design methodology arises. A new conceptual design approach based on a multicriteria profile for mechatronic systems has been previously presented by the authors, which uses a series of nonlinear fuzzy-based aggregation functions to facilitate decision-making for design evaluation in the presence of interacting criteria. Choquet fuzzy integrals are one of the most expressive and reliable preference models used in decision theory for multicriteria decision-making. They perform a weighted aggregation by the means of fuzzy meas...
Mechatronics, 2019
This paper introduces a product-related dependency index that can be used during the conceptual d... more This paper introduces a product-related dependency index that can be used during the conceptual design of mechatronic systems. The index uses fuzzy assessment of adverse effects dependencies combined with quantitative graph theory to compute the level of detrimental interactions present in a system. The paper also illustrates how the assessment of dependencies can be performed during early design stages and how components are differently affected by a specific adverse effect. Furthermore, the practicality of the new dependency index is exemplified with two case studies: a design experiment on a self-balancing robot and the conceptual design of a robotic arm for aerial manipulation. The design experiment demonstrates how adverse effects affect the performance of a mechatronic system and how the new dependency index is able to follow the decrease or increase of performance of the system. Then, the design of the robotic arm shows that decision-making can be improved when using this new dependency index as a criterion, as it allows one to select concepts for which less detrimental interactions exist. In both case studies, the index is shown to facilitate the design process as it can lead to fewer redesign loops which would result in reducing the development time and costs.
Engineering Applications of Artificial Intelligence, 2019
Mechatronics design is complex by nature as it involves a large number of couplings and interdepe... more Mechatronics design is complex by nature as it involves a large number of couplings and interdependencies between subsystems and components alongside a variety of sometimes contradicting objectives and design constraints. Mechatronics design activity requires cross-disciplinary and multi-objective thinking. In this paper, a fuzzy-based approach for the modeling of a unified performance evaluation index in the detailed design phase is presented. This index acts as a multidisciplinary objective function aggregating all the design criteria and requirements from various disciplines and subsystems while taking into account the interactions and correlations among the objectives. Then this function is optimized using a particle swarm optimization algorithm alongside all the constraints facing each subsystem. As an application, the mechatronics design of a vision-guided quadrotor unmanned aerial vehicle is carried out to demonstrate the effectiveness of the proposed method. Thus, a thorough modeling of system dynamics, structure, aerodynamics, flight control and visual servoing system is carried out to provide the designer with all necessary design variables and requirements. The final results and related computer simulations show the effectiveness of the proposed method in finding solutions for an optimal mechatronic design.
Advances in Acoustics and Vibration, 2015
A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The de... more A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The design includes a permanent magnet group follower (slave module) which slides laterally over the panel attracted by another permanent magnet group (master module) attached to the industrial robot end effector from the machined side of the panel. The lateral sliding motion of the slave module in response to the master module motion is studied using a transfer function based motion model established considering the lateral magnetic stiffness. The model is validated experimentally.
The International Journal of Advanced Manufacturing Technology, 2015
In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force... more In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force. A clamp is needed on the opposite side of the panel to limit such effects. The support must be able to withstand the thrust force generated by the milling process. In this paper, a specific model for torus cutter milling force and a general milling force model have been simulated to predict the cutting forces. In order to get higher cutting efficiency, the torus cutter needs to adopt different tilt angle relative to the workpiece which changes the thrust force. An equation has been developed to predict the resulting thrust force on the skin panel at different tilting angle. Simulated thrust force results have been validated against dynamometer readings acquired during milling operation.
Journal of Integrated Design and Process Science, 2016
Adaptive Neuro-Fuzzy Inference System Models for Force Prediction of a Mechatronic Flexible Struc... more Adaptive Neuro-Fuzzy Inference System Models for Force Prediction of a Mechatronic Flexible Structure This paper presents the results obtained from a research work investigating the performance of different Adaptive Neuro-Fuzzy Inference System (ANFIS) models developed to predict excitation forces on a dynamically loaded flexible structure. For this purpose, a flexible structure is equipped with acceleration transducers at each degree of freedom and a force transducer for validation and training. Two types of models were developed; the first type uses current accelerations only while the second type considers both the current accelerations and the historical values. The models are trained using data obtained from applying a random excitation force on the flexible structure. The performance of the developed models is evaluated by analyzing the prediction capabilities based on a normalized prediction error. The frequency domain is considered to analyze the similarity of the frequencies in the predicted and the original force signal. For a selection of the best models, a more advanced performance analysis is carried out. This includes application of the trained models to deterministic and non-deterministic excitation forces with different excitation frequencies and amplitudes. Additionally, the influence of the sampling frequency and sensor location on the model performance is investigated. The results obtained in this paper show that ANFIS models can be used to set up reliable force predictors for dynamical loaded flexible structures, when a certain degree of inaccuracy is accepted. Furthermore, the comparison study points out that the transducer location is crucial for the model performance. However, there exists no general solution for the final selection of models. The findings showed that the model type employing historical values gives better predictions when operating in their trained regions while the models using only current values have generally higher prediction errors in trained regions but are less sensitive to changes of the system dynamics history.
In this paper, we consider the H1 filtering problem for discrete-time singularly-perturbed (two t... more In this paper, we consider the H1 filtering problem for discrete-time singularly-perturbed (two time-scale) nonlinear systems. Two types of filters, namely, (i) decomposition; and (ii) aggregate, are discussed, and sufficient conditions for the approximate solvability of the problem in terms of discrete-time Hamilton–Jacobi– Isaacs equations (DHJIEs) are presented. In addition, for each type of filter above, reduced-order filters are also derived in each case. The results are also specialized to linear systems, in which case the HJIEs reduce to a system of linear-matrixinequalities (LMIs) which are computationally efficient. An example is also given to demonstrate the approach.
This paper presents the kinematic analysis of parallel manipulators (PMs) of Delta topology. A to... more This paper presents the kinematic analysis of parallel manipulators (PMs) of Delta topology. A topological class is defined as all mechanisms having the same kinematic chain and the same mobility of the end-effector. The concept of topographic map of a mechanism is used here to define the kinematic characteristics of a topological class. The topographic map of PMs of Delta topology is defined and used to develop a general kinematic model for all the PMs that belong to this topological class. Finally, this model is used to derive the necessary and sufficient conditions for isotropic PMs of Delta topology, thereby defining the isotropic design manifold of this topology.
Volume 2A: 27th Design Automation Conference, 2001
This paper proposes a necessary and sufficient number of 18 geometrical parameters allowing to de... more This paper proposes a necessary and sufficient number of 18 geometrical parameters allowing to describe the design manifold of the Star topological class, i.e., all geometries of manipulators having the same topology and mobility as the Y-Star parallel manipulator. The isotropic constraints are then applied on this manifold in order to define the constraint manifold of isotropic designs, i.e., those having isotropic Jacobian matrices at their home position. This constraint manifold is of dimension 11 and greatly facilitates the design of isotropic manipulators in this topological class.
Control and Intelligent Systems, 2009
ABSTRACT
Satellite servicing represents a considerable challenge for space engineering. Each mission requi... more Satellite servicing represents a considerable challenge for space engineering. Each mission requires important investments in terms of human and financial resources, and thus several space agencies are trying to find an efficient way to restore satellites by unmanned missions, using autonomous repair spacecrafts. However, there are specific complications related to this type of operation, one of them being the critical nature of the docking stage that, if not done in strict accordance to the set parameters of velocity and angle of approach, can jeopardize the entire mission, hence the extensive research that is presently being conducted in the field of contact dynamics. The focus of this research is to find alternatives to the methods that are currently in use for dynamic estimates, as they do not deliver reliable results particularly in complex situations. This behavior is mainly due to the fact that dynamic results change drastically with each variation of the calculation paramete...
The International Journal of Advanced Manufacturing Technology, 2015
In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force... more In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force. A clamp is needed on the opposite side of the panel to limit such effects. The support must be able to withstand the thrust force generated by the milling process. In this paper, a specific model for torus cutter milling force and a general milling force model have been simulated to predict the cutting forces. In order to get higher cutting efficiency, the torus cutter needs to adopt different tilt angle relative to the workpiece which changes the thrust force. An equation has been developed to predict the resulting thrust force on the skin panel at different tilting angle. Simulated thrust force results have been validated against dynamometer readings acquired during milling operation.
Transactions of The Canadian Society for Mechanical Engineering, Jun 1, 2016
Designing mechatronic systems is known to be both a very complex and tedious process. This comple... more Designing mechatronic systems is known to be both a very complex and tedious process. This complexity is due to the high number of system components, their multi-physical aspects, the couplings between different engineering domains and the interacting and/or conflicting design objectives. Due to this inherent complexity and the dynamic coupling between subsystems of mechatronic systems, a systematic and multi-objective design approach is needed to replace the traditionally used sequential design methods. The traditional approaches usually lead to functional but non optimal designs solutions. In this paper, and based on an integrated and concurrent design approach called "Design-for-Control" (DFC), a quadrotor UAV equipped with a stereo visual servoing system is used as a case study. After presenting the dynamics and the control model of the Quadrotor UAV and its visual servoing system, the design process has been performed in four iterations and as expected, the control performance of the system has been significantly improved after finishing the final design iteration.
The multidisciplinary nature of Mechatronic Systems (MeSy) results in a highly complex design tas... more The multidisciplinary nature of Mechatronic Systems (MeSy) results in a highly complex design task, and it is believed that using an integrated approach to design would help reduce this complexity. However, integrated design is hard to implement due to the existing interactions between the components of MeSy. Some of these interactions are referred to as dependencies, and can affect the performance of MeSy while increasing the design task complexity. It is thus necessary to deal with them as early as possible. Although there are some methods to model dependencies, no methods exist to deal specifically with negative effect dependencies. Therefore, we propose a method that enables the identification and assess negative dependencies that exist within a mechatronic system. We first define negative dependencies between two components through four dimensions (affecting level, affected level, effect attenuation and functional closeness) and then assess these dimensions using fuzzy linguistic variables. We then demonstrate the effectiveness of the method by using a quadcopter drone as a case study which shows that it is possible to gain knowledge regarding potential design problems early on.
Journal of Cleaner Production, Dec 1, 2019
Users may download and print one copy of any publication from the public portal for the purpose... more Users may download and print one copy of any publication from the public portal for the purpose of private study or research. You may not further distribute the material or use it for any profit-making activity or commercial gain You may freely distribute the URL identifying the publication in the public portal If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim.
Engineering Applications of Artificial Intelligence, Jun 1, 2019
Mechatronics design is complex by nature as it involves a large number of couplings and interdepe... more Mechatronics design is complex by nature as it involves a large number of couplings and interdependencies between subsystems and components alongside a variety of sometimes contradicting objectives and design constraints. Mechatronics design activity requires cross-disciplinary and multi-objective thinking. In this paper, a fuzzy-based approach for the modeling of a unified performance evaluation index in the detailed design phase is presented. This index acts as a multidisciplinary objective function aggregating all the design criteria and requirements from various disciplines and subsystems while taking into account the interactions and correlations among the objectives. Then this function is optimized using a particle swarm optimization algorithm alongside all the constraints facing each subsystem. As an application, the mechatronics design of a vision-guided quadrotor unmanned aerial vehicle is carried out to demonstrate the effectiveness of the proposed method. Thus, a thorough modeling of system dynamics, structure, aerodynamics, flight control and visual servoing system is carried out to provide the designer with all necessary design variables and requirements. The final results and related computer simulations show the effectiveness of the proposed method in finding solutions for an optimal mechatronic design.
International Journal of Abrasive Technology
Ce fichier a été téléchargé à partir de PolyPublie, le dépôt institutionnel de Polytechnique Mont... more Ce fichier a été téléchargé à partir de PolyPublie, le dépôt institutionnel de Polytechnique Montréal This file has been downloaded from PolyPublie, the institutional repository of Polytechnique Montréal http://publications.polymtl.ca
This paper presents a quantitative study on the effects of angle variation-disposition of actuato... more This paper presents a quantitative study on the effects of angle variation-disposition of actuators on the compliance of a class of Deformable Hybrid Serial-Parallel Manipulators (DHSPM). Although compliance is desired to achieve a secure and stable maneuverability, high stiffness is good to provide precision and reject perturbations. Thus, the compromises between compliance and stiffness can have different profiles along the degrees of freedom of deformable robots. The study is based on the simulation of the model of the robot derived from computational mechanics (Finite Element Method) and is conducted on a DHSPM with antagonistic actuation. We show that antagonistic actuation predominantly increases stiffness in torsion when activated and that by changing the orientation of the actuator it is possible to increase compliance in one direction while decreasing it in another. Finally, we provide guidelines for the design of soft robots having a parallel structure such as deformable h...
Journal of Computational Design and Engineering, 2020
Designing a mechatronic system is a complex task since it deals with a high number of system comp... more Designing a mechatronic system is a complex task since it deals with a high number of system components with multidisciplinary nature in the presence of interacting design objectives. Currently, the sequential design is widely used by designers in industries that deal with different domains and their corresponding design objectives separately leading to a functional but not necessarily an optimal result. Consequently, the need for a systematic and multiobjective design methodology arises. A new conceptual design approach based on a multicriteria profile for mechatronic systems has been previously presented by the authors, which uses a series of nonlinear fuzzy-based aggregation functions to facilitate decision-making for design evaluation in the presence of interacting criteria. Choquet fuzzy integrals are one of the most expressive and reliable preference models used in decision theory for multicriteria decision-making. They perform a weighted aggregation by the means of fuzzy meas...
Mechatronics, 2019
This paper introduces a product-related dependency index that can be used during the conceptual d... more This paper introduces a product-related dependency index that can be used during the conceptual design of mechatronic systems. The index uses fuzzy assessment of adverse effects dependencies combined with quantitative graph theory to compute the level of detrimental interactions present in a system. The paper also illustrates how the assessment of dependencies can be performed during early design stages and how components are differently affected by a specific adverse effect. Furthermore, the practicality of the new dependency index is exemplified with two case studies: a design experiment on a self-balancing robot and the conceptual design of a robotic arm for aerial manipulation. The design experiment demonstrates how adverse effects affect the performance of a mechatronic system and how the new dependency index is able to follow the decrease or increase of performance of the system. Then, the design of the robotic arm shows that decision-making can be improved when using this new dependency index as a criterion, as it allows one to select concepts for which less detrimental interactions exist. In both case studies, the index is shown to facilitate the design process as it can lead to fewer redesign loops which would result in reducing the development time and costs.
Engineering Applications of Artificial Intelligence, 2019
Mechatronics design is complex by nature as it involves a large number of couplings and interdepe... more Mechatronics design is complex by nature as it involves a large number of couplings and interdependencies between subsystems and components alongside a variety of sometimes contradicting objectives and design constraints. Mechatronics design activity requires cross-disciplinary and multi-objective thinking. In this paper, a fuzzy-based approach for the modeling of a unified performance evaluation index in the detailed design phase is presented. This index acts as a multidisciplinary objective function aggregating all the design criteria and requirements from various disciplines and subsystems while taking into account the interactions and correlations among the objectives. Then this function is optimized using a particle swarm optimization algorithm alongside all the constraints facing each subsystem. As an application, the mechatronics design of a vision-guided quadrotor unmanned aerial vehicle is carried out to demonstrate the effectiveness of the proposed method. Thus, a thorough modeling of system dynamics, structure, aerodynamics, flight control and visual servoing system is carried out to provide the designer with all necessary design variables and requirements. The final results and related computer simulations show the effectiveness of the proposed method in finding solutions for an optimal mechatronic design.
Advances in Acoustics and Vibration, 2015
A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The de... more A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The design includes a permanent magnet group follower (slave module) which slides laterally over the panel attracted by another permanent magnet group (master module) attached to the industrial robot end effector from the machined side of the panel. The lateral sliding motion of the slave module in response to the master module motion is studied using a transfer function based motion model established considering the lateral magnetic stiffness. The model is validated experimentally.
The International Journal of Advanced Manufacturing Technology, 2015
In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force... more In large fuselage milling operation the panel may deflect and vibrate due to milling thrust force. A clamp is needed on the opposite side of the panel to limit such effects. The support must be able to withstand the thrust force generated by the milling process. In this paper, a specific model for torus cutter milling force and a general milling force model have been simulated to predict the cutting forces. In order to get higher cutting efficiency, the torus cutter needs to adopt different tilt angle relative to the workpiece which changes the thrust force. An equation has been developed to predict the resulting thrust force on the skin panel at different tilting angle. Simulated thrust force results have been validated against dynamometer readings acquired during milling operation.
Journal of Integrated Design and Process Science, 2016
Adaptive Neuro-Fuzzy Inference System Models for Force Prediction of a Mechatronic Flexible Struc... more Adaptive Neuro-Fuzzy Inference System Models for Force Prediction of a Mechatronic Flexible Structure This paper presents the results obtained from a research work investigating the performance of different Adaptive Neuro-Fuzzy Inference System (ANFIS) models developed to predict excitation forces on a dynamically loaded flexible structure. For this purpose, a flexible structure is equipped with acceleration transducers at each degree of freedom and a force transducer for validation and training. Two types of models were developed; the first type uses current accelerations only while the second type considers both the current accelerations and the historical values. The models are trained using data obtained from applying a random excitation force on the flexible structure. The performance of the developed models is evaluated by analyzing the prediction capabilities based on a normalized prediction error. The frequency domain is considered to analyze the similarity of the frequencies in the predicted and the original force signal. For a selection of the best models, a more advanced performance analysis is carried out. This includes application of the trained models to deterministic and non-deterministic excitation forces with different excitation frequencies and amplitudes. Additionally, the influence of the sampling frequency and sensor location on the model performance is investigated. The results obtained in this paper show that ANFIS models can be used to set up reliable force predictors for dynamical loaded flexible structures, when a certain degree of inaccuracy is accepted. Furthermore, the comparison study points out that the transducer location is crucial for the model performance. However, there exists no general solution for the final selection of models. The findings showed that the model type employing historical values gives better predictions when operating in their trained regions while the models using only current values have generally higher prediction errors in trained regions but are less sensitive to changes of the system dynamics history.
In this paper, we consider the H1 filtering problem for discrete-time singularly-perturbed (two t... more In this paper, we consider the H1 filtering problem for discrete-time singularly-perturbed (two time-scale) nonlinear systems. Two types of filters, namely, (i) decomposition; and (ii) aggregate, are discussed, and sufficient conditions for the approximate solvability of the problem in terms of discrete-time Hamilton–Jacobi– Isaacs equations (DHJIEs) are presented. In addition, for each type of filter above, reduced-order filters are also derived in each case. The results are also specialized to linear systems, in which case the HJIEs reduce to a system of linear-matrixinequalities (LMIs) which are computationally efficient. An example is also given to demonstrate the approach.
This paper presents the kinematic analysis of parallel manipulators (PMs) of Delta topology. A to... more This paper presents the kinematic analysis of parallel manipulators (PMs) of Delta topology. A topological class is defined as all mechanisms having the same kinematic chain and the same mobility of the end-effector. The concept of topographic map of a mechanism is used here to define the kinematic characteristics of a topological class. The topographic map of PMs of Delta topology is defined and used to develop a general kinematic model for all the PMs that belong to this topological class. Finally, this model is used to derive the necessary and sufficient conditions for isotropic PMs of Delta topology, thereby defining the isotropic design manifold of this topology.
Volume 2A: 27th Design Automation Conference, 2001
This paper proposes a necessary and sufficient number of 18 geometrical parameters allowing to de... more This paper proposes a necessary and sufficient number of 18 geometrical parameters allowing to describe the design manifold of the Star topological class, i.e., all geometries of manipulators having the same topology and mobility as the Y-Star parallel manipulator. The isotropic constraints are then applied on this manifold in order to define the constraint manifold of isotropic designs, i.e., those having isotropic Jacobian matrices at their home position. This constraint manifold is of dimension 11 and greatly facilitates the design of isotropic manipulators in this topological class.
Control and Intelligent Systems, 2009
ABSTRACT
Satellite servicing represents a considerable challenge for space engineering. Each mission requi... more Satellite servicing represents a considerable challenge for space engineering. Each mission requires important investments in terms of human and financial resources, and thus several space agencies are trying to find an efficient way to restore satellites by unmanned missions, using autonomous repair spacecrafts. However, there are specific complications related to this type of operation, one of them being the critical nature of the docking stage that, if not done in strict accordance to the set parameters of velocity and angle of approach, can jeopardize the entire mission, hence the extensive research that is presently being conducted in the field of contact dynamics. The focus of this research is to find alternatives to the methods that are currently in use for dynamic estimates, as they do not deliver reliable results particularly in complex situations. This behavior is mainly due to the fact that dynamic results change drastically with each variation of the calculation paramete...
This paper presents a tool condition monitoring approach using Takagi-Sugeno-Kang (TSK) fuzzy log... more This paper presents a tool condition monitoring approach using Takagi-Sugeno-Kang (TSK) fuzzy logic incorporating a subtractive cluste- ring method. The experimental results show its effectiveness and satisfactory comparisons with several other artificial intelligence methods.
In this paper, type-2 fuzzy logic system is applied to analyse acoustic emission signal feature f... more In this paper, type-2 fuzzy logic system is applied to analyse acoustic emission signal feature for tool condition monitoring in a tool micromilling process. To make the comparison and evaluation of AE signal features easier and more transparent, Type-2 fuzzy analysis is used as not only a powerful tool to model AE SFs, but also a great estimator for the ambiguities and uncertainties associated with them. Depend on the estimation of root-mean-square error (RMSE) and variations in modeling results of all signal features, reliable ones are selected and integrated into tool wear evaluation. A discussion and comparison of results is given.
In this paper, type-2 fuzzy logic system is applied to analyse acoustic emission signal feature f... more In this paper, type-2 fuzzy logic system is applied to analyse acoustic emission signal feature for tool condition monitoring in a tool micromilling process. To make the comparison and evaluation of AE signal features easier and more transparent, Type-2 fuzzy analysis is used as not only a powerful tool to model AE SFs, but also a great estimator for the ambiguities and uncertainties associated with them. Depend on the estimation of root-mean-square error (RMSE) and variations in modeling results of all signal features, reliable ones are selected and integrated into tool wear evaluation. A discussion and comparison of results is given.