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15. A general and numerically efficient framework to design sector-type and cylindrical counterweights for balancing of planar linkages

Author

Demeulenaere, B., Verschuure, M., Swevers, J., and De Schutter, J.

Subjects
Linkages (Mechanisms) -- Equipment and supplies, Linkages (Mechanisms) -- Mechanical properties, Linkages (Mechanisms) -- Design and construction, Equilibrium (Physics) -- Research, Engineering design -- Methods, Engineering design -- Technology application, Technology application, Engineering and manufacturing industries, Science and technology
Abstract

This paper extends previous work concerning convex reformulations of counterweight balancing by developing a general and numerically efficient design framework for counterweight balancing of arbitrarily complex planar linkages. At the numerical core of the framework is an iterative procedure, in which successively solving three convex optimization problems yields practical counterweight shapes in typically less than 1 CPU s. Several types of counterweights can be handled. The iterative procedure allows minimizing and/or constraining shaking force, shaking moment, driving torque, and bearing forces. Numerical experiments demonstrate the numerical superiority (in terms of computation time and balancing result) of the presented framework compared to existing approaches. [DOI: 10.1115/1.4000532]

Published
2010

16. Optimal splines for rigid motion systems: benchmarking and extensions

Author

Demeulenaere, B., De Caigny, J., Pipeleers, G., De Schutter, J., and Swevers, J.

Subjects
Splines -- Mechanical properties, Rigid bodies (Physics) -- Research, Structural frames -- Models, Benchmarks -- Research, Benchmark, Engineering and manufacturing industries, Science and technology
Abstract

This paper illustrates the power and versatility of the convex programming framework for optimal spline synthesis that was developed in a companion paper (Demeulenaere, Pipeleers, De Caigny, Swevers, De Schutter, and Vandenberghe, 2009, 'Optimal Spines for Rigid Motion Systems: A Convex Programming Framework', ASME J. Mech. Des., 131, p. 101005.). Two case studies concerning rigid motion systems illustrate the ability of the framework to improve upon recent (2005) literature results: (i) a numerical optimization study concerning kinematic optimization of uniform quintic splines for cam systems and (ii) an analytical study concerning time optimal quartic splines for motion systems driven by servomotors and subject to kinematic constraints. In a third study, the versatility of the framework is illustrated by generating time optimal and time-energy optimal motions for a rigid servomotor driven system under torque constraints. Based on these three case studies, the convex programming framework of the companion paper is extended with the following generic aspects: (i) a bisection to generate time optimal motions, (ii) a direct expression of the upper and lower bounds on motor torque, and (iii) a convex quadratic energy objective function for servomotor driven systems. [DOI: 10.1115/1.3201991]

Published
2009

17. Optimal splines for rigid motion systems: a convex programming framework

Author

Demeulenaere, B., Pipeleers, G., De Caigny, J., Swevers, J., De Schutter, J., and Vandenberghe, L.

Subjects
Splines -- Mechanical properties, Rigid bodies (Physics) -- Research, Structural frames -- Models, Engineering and manufacturing industries, Science and technology
Abstract

This paper develops a general framework to synthesize optimal polynomial splines for rigid motion systems driven by cams or servomotors. This framework is based on numerical optimization, and has three main characteristics: (i) Spline knot locations are optimized through an indirect approach, based on providing a large number of fixed, uniformly distributed candidate knots; (ii) in order to efficiently solve the corresponding large-scale optimization problem to global optimality, only design objectives and constraints are allowed that result in convex programs; and (iii) one-norm regularization is used as an effective tool for selecting the better (that is, having fewer active knots) solution if many equally optimal solutions exist. The framework is developed and validated based on a double-dwell benchmark problem for which an analytical solution exists. [DOI: 10.115/1.3201977]

Published
2009

18. Optimal Variable Transmission Ratio and Trajectory for an Inertial ad With Respect to Servo Motor Size

Author

Straete, H.J.Van de, De Schutter, J., and Leuven, K.U.

Subjects
Mechanical engineering -- Research, Inertia (Mechanics) -- Analysis, Servomechanisms -- Analysis, Torque -- Research, Motors -- Analysis, Engineering and manufacturing industries, Science and technology
Abstract

This paper addresses the selection of the optimal trajectory and transmission ratio for a servo motor driving a purely inertial load. Both aspects are studied with respect to the required motor torque and are formulated in a dimensionless fashion. Consequently, the results are generally valid and answer the following questions. What is the gain in terms of required motor torque by optimising the trajectory for minimal motor torque given a required smoothness? What is the corresponding optimal trajectory? What is the gain in terms of required motor torque by inserting a mechanism (variable transmission) between the motor and the load? What is this optimised variable transmission ratio? The final example shows how a realistic mechanism can approximate this theoretically optimised variable transmission ratio and, hence, the corresponding reduction in required motor torque.

Published
1999

20. Generation of periodic trajectories for optimal robot excitation

Author

Swevers, J., Ganseman, C., De Schutter, J., and Van Brussel, H.

Subjects
Fourier analysis -- Usage, Robots -- Control systems, Parameter estimation -- Methods, Engineering and manufacturing industries, Science and technology
Abstract

This paper describes the parameterization of robot excitation trajectories for optimal robot identification based on finite Fourier series. The coefficients of the Fourier series are optimized for minimal sensitivity of the identification to measurement disturbances, which is measured as the condition number of a regression matrix, taking into account motion constraints in joint and cartesian space. This approach allows obtaining small condition numbers with few coefficients for each joint, which simplifies the optimization problem significantly. The periodicity of the resulting trajectories and the fact that one has total control over their frequency content, are additional features of the presented parameterization approach. They allow further optimization of the excitation experiments through time domain data averaging and optimal selection of the excitation bandwidth, which both help the reduction of the disturbance level on the measurements, and therefore improve the identification accuracy.

Published
1997

22. Extended bandwidth zero phase error tracking control of nonminimal phase systems

Author

Torfs, D., De Schutter, J., and Swevers, J.

Subjects
Algorithms -- Research, Robots -- Control systems, Control systems -- Research, Engineering and manufacturing industries, Science and technology
Abstract

This paper describes a new feedforward algorithm for accurate tracking control of nonminimal phase systems. Accurate feedforward calculation involves a prefilter design using the inverse system model. Nonminimal phase systems cause problems with this prefilter design, because unstable zeros become unstable poles in the inverse model. The zero phase error tracking control algorithm (ZPETC) consists of a substitution scheme, which removes the unstable zeros. This scheme introduces a small gain error, which increases with frequency, but no phase error. This paper investigates additional properties which give more insight into the ZPETC algorithm, and allow to improve it. The improved algorithm is based on the same substitution scheme as ZPETC, but adds additional feedforward terms to compensate for the gain error. These additional terms increase the frequency range for which the overall transfer function has only limited gain error, without introducing phase errors. The additional feedforward terms repeatedly reduce the tracking error proportional to epsilon squared, epsilon to the fourth, epsilon to the sixth, ..., where epsilon is the ZPETC tracking error. The new feedforward algorithm or new substitution scheme is therefore called 'extended bandwidth zero phase error tracking control algorithm' (EBZPETC). Experimental results on a one-link flexible robot compares both methods.

Published
1992

37. Nautical bottom sediment research: Sub report 8. Sediment parameter evolution in the STT

Author

Van Hoestenberghe, T., Claeys, S., Vanlede, J., De Schutter, J., Verwaest, T., and Mostaert, F.

Subjects
Sediments, Nautical bottom, Rheology
Abstract

The Sediment Test Tank (STT) has been built on the terrain of Flanders Hydraulic Research (FHR) to host in-situ sediment for sediment studies. After delivery (16/04/2009) of 50 m³ of sediment from the harbour of Zeebrugge at a density of 1.14 m³/s, sedimentation and consolidation created vertical differences in the sediment in the STT. The measurements started on 21/04/2009. This report deals with the measurements until 26/05/2010.A whole range of parameters have been measured over time and depth to monitor the sediment characteristics as much as possible. Some parameters are measured in situ in the tank, e.g. measurements by the YSI-multiparameter probe and pore pressure measured by piezometric tubes. Other parameters are measured on undisturbed samples, e.g. density, rheological parameters and thermo-gravimetric analysis. This report gives the findings of the measurements and recommendations for further measurement campaigns in the STT.

Published
2014

38. Nautical bottom sediment research: Sub report 11. Cohesive sediments dimensional analysis

Author

Heredia Gomez, M., Rocabado, I., Wildemeersch, K., Van Hoestenberghe, T., Claeys, S., De Schutter, J., Van Oyen, T., Vanlede, J., Verwaest, T., and Mostaert, F.

Subjects
Statistical analysis, ANE, Belgium, Brugge, Zeebrugge Harbour, Mud, Rheology, Dimensional analysis
Abstract

The dimensional analysis technique was applied in order to determine possible relationships between the measured parameters in the STT and to identify possible inconsistencies in the measurements.The present dimensional analysis focuses only in the sedimentation and consolidation processes.Relationships between parameters could be used to identify inconsistencies for measured pore pressure, effective stresses and density values. Recommendations are suggested for sampling points and measuring methods.

Published
2014

44. Abstracts of papers symposium disposition and delivery of peptide drugs

Author

Barnard, M., Beijnen, J. H., Lubbers, S. C. M., van der Houwen, O. A. G. J., Lobbezoo, M. W., Underberg, W. J. M., Cachet, Th., Roets, E., Hoogmartens, J., Vanderhaeghe, H., de Bree, H., van der Stel, D. J. K., Brockhoff, O. A. M., van Berkel, M. P., Sierat, K., de Groot, G., Tepas, B. C. A., de Noord, O. E., Hempenius, J., Coenegracht, P. M. J., Jonkman, J. H. G., Doornbos, D. A., De Schutter, J. A., De Moerloose, P., Delbressine, L. P. C. P., Kaspersen, F. M., Blokland, A., Duchateau, A. L. L., Verstappen, T. A., Hendricks, P. J. H., Elferink, F., Leeuwenkamp, O. R., Pinedo, H. M., vd Vijh, W. J. F., Ensing, K., Bloemhof, D. A., in 't Hout, W. G., de Zeeuw, R. A., Feitsma, Karla G., Drenth, Ben F. H., de Zeeuw, Rokus A., Gerding, T. K., Drenth, B. F. H., de Zeeuw, R. A., Horn, A. S., Groen, C. P., Tipker, J., van den Bergh-Swart, J. K., Spruit, F. J., van den Berg, J. H. N., Bramel, E. H. Groot, Beijnen, J. H., Beckers, O., Otagiri, M., Underberg, W. J. M., Janssen, P. S. L., v. Nispen, J. W., Melgers, P. A. T. A., v. Zeeland, M. J. M., Hanmelinck, R. L. A. E., Goverde, B. C., v. Aalst, G. W. M., Kootstra, P. R., van den Broek, H. H., Hogendoorn, E. A., Goewie, C. E., Kwakman, P. J. M., Brinkman, U. A. Th., Frei, R. W., de Jong, G. J., Spruit, F. J., Lammers, N. G. F. M., van den Berg, J. H. M., Lammers, N., Groen, C. P., Ruijten, H. M., Maessen, P. A., Mross, K. B., Pinedo, H. M., van der Vijgh, W. J. F., Khan, Naeem Hasan, Hoogmartens, J., Roets, E., Vanderhaeghe, H., Rose, S. V., Lammerts van Bueren, L. G. D., van Beek, H., Baars, A. J., van Ginkel, L. A., Steinbuch, H. M., van Rossum, H. J., van Blitterswijk, H., Zoontjes, P. W., v.d. Heeft, E., de Jong, A. J. P. M., Stephany, R. W., van Gijn, R., de Clippeleir, J. J. M., Beijnen, J. H., Underberg, W. J. M., Verweij, S. L., Paalman, A. C. A., van Opstal, M. A. J., Krabbenborg, P., Holthuis, J. J. M., van Bennekom, W. P., Bult, A., van de Water, C., Haagsma, N., van der Stel, D. J. K., de Bree, H., Brockhoff, O. A. M., Vendrig, D. E. M. M., Mekking, A., Teeuwsen, J., and Holthuis, J. J. M.

Published
1988
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45. Abstracts of Dutch doctoral theses

Author

Navis, G. J., Sterk, G. J., van Nispen, J. W., Hichens, M., Sauter, A., Lingeman, H., van den Beld, C. M. B., Tjaden, U. R., van der Greef, J., Desiderio, D. M., Cubbins, D. C., McMartin, C., Webb, R. L., Wennogle, L. P., Wysowskyi, H. E., Zimmerman, M. B., Lee, V. H. L., Sandow, J., Seidel, H., Schmiedel, R., Keller, Bradley T., Smith, Kevin R., Borchardt, Ronald T., Banks, W. A., Kastin, A. J., de Wied, D., DeLuca, P. P., Robinson, J. R., Lundin, S., Vilhardt, H., Saffran, M., Kumar, G. S., Neckers, D. G., Williams, F., Field, J. B., Jones, R. H., Panepinto, L., Harris, A. S., Moses, Alan C., Muranishi, S., Boddé, H. E., Ponec, M., Verhoef, J., Liversidge, Gary G., Boer, G. J., Kruisbrink, J., de Nijs, H., Bouwman, T. R. M., Eenink, M. J. D., Patel, Harish M., Bundgaard, H., Larsen, J. D., Nielsen, M. N., Buur, A., Tjadeh, U. R., Lemaire, M., Andres, H., Marbach, P., Widlund, L., Guilbaud, O., Wilton, P., van Bree, J. B. M. M., Audus, K. L., Deinum, Johanna, Norén, Karin, Sohtell, Morgan, Weström, B. R., Folkesson, H. G., Karlsson, B. W., Damge, C., Michel, C., Aprahamian, M., Couvreur, P., Puisieux, F., Touitou, E., Alhaique, F., Fisher, P., Memoli, A., Riccieri, F. M., Santucci, E., Hermens, W. A. J. J., Romei jn, S. G., Merkus, F. W. H. H., Schneider, C., Smith, T. W., Bremecker, K. -D., Hungerer, K. -D., Tabata, Y., Ikada, Y., Uno, K., Muramatsu, S., Bruning, J. W., Claas, F. H. J., Kardol, M. J., van Ree, J. M., Rust, C. J. J., Verduyn, W., Wiegant, V. M., Wolterink, G., van Hoogdalem, E. J., Heijligers-Feijen, C. D., de Boer, A. G., Breimer, D. D., Lambalk, C. B., van Kessel, H., de Koning, J., van Dieten, J. A. M. J., van Rees, G. P., Schoemaker, J., Devissaguet J. -Ph., Orieu K., Dray F., Ezan E., Devissaguet J. Ph., Drieu K., Dray P., Ezah E., Barnfield, D. J., Barker, Y. K., Knott, S., Miles, G. S., Warrander, A., Adam, H. K., Barker, Y., Hutchinson, F. G., Milsted, R. A. V., Moore, R. H., Swaisland, A. J., Barke, Y., Porter, E. T., Holmes, B., Barnard, M., Beijnen, J. H., Lubbers, S. C. H., van der Houwen, O. A. G. J., Lobbezoo, M. W., Underberg, W. J. M., Cachet, Th., Roets, E., Hoogmartens, J., Vanderhaeghe, H., de Bree, H., van der Stel, D. J. K., Brockhoff, O. A. M., van Berkel, M. P., Sierat, K., de Groot, G., Tepas, B. C. A., de Noord, O. E., Hempenius, J., Coenegracht, P. M. J., Jonkman, J. H. G., Doornbos, D. A., De Schutter, J. A., De Moerloose, P., Delbressine, L. P. C., Kaspersen, F. M., Blokland, A., Duchateau, A. L. L., Verstappen, T. A., Hendricks, P. J. H., Elferink, F, Leeuwenkamp, O R, Pinedo, H M, vd Vijgh, W J F, Ensing, K., Bloemhof, D. A., In 't Hout, W. G., de Zeeuw, R. A., Feitsma, Karla G., Drenth, Ben F. H., de Zeeuw, Rokus A., Gerding, T. K., Drenth, B. F. H., Horn, A. S., Groen, C. P., Tipker, J., van den Bergh-Swart, J. K., Spruit, F. J., van den Berg, J. H. M., Bramel, E. H. Groot, Bekers, O., Otagiri, M., Janssen, P. S. L., Nispen, J. W. v., Melgers, P. A. T. A., Zeeland, M. J. M. v., Hamelinck, R. L. A. E., Goverde, B. C., Aalst, G. W. M. v., Kootstra, P. R., van den Broek, H. H., Hogendoorn, E. A., Goewie, C. E., Kwakman, P. J. M., Brinkman, U. A. Th., Frei, R. W., de Jong, G. J., Lammers, N. G. F. M., Lammers, N., Ruijten, H. M., de Jong, J., Maessen, P. A., Mross, K. B., Plnedo, H. M., van der Vljgh, W. J. F., Khan, Naeem Hasan, Hoogmartens, J., Rose, S. V., van Bueren, L. G. D. Lammerts, van Amsterdam, P. H., van Beek, H., Baars, A. J., van Ginkel, L. A., Steinbuch, H. M., van Rossum, H. J., van Blitterswijk, H., Zoontjes, P. W., Heeft, E. v. d., de Jong, A. J. P. M., Stephany, R. W., van Gijn, R., de Clippeleir, J. J. M., Verweij, S. L., Paalman, A. C. A., van Opstal, M. A. J., Krabbenborg, P., Holthuis, J. J. M., van Bennekom, W. P., Bult, A., Redegeld, F. A. M., Houdkamp, E., van de Water, C., Haagsma, N., van der Stel, D. J. K., Vendrig, D. E. M. M., Mekking, A., and Teeuwsen, J.

Published
1988
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46. Quantification of erosion/sedimentation patterns to trace the natural versus anthropogenic sediment dynamics 'QUEST4D': final report

Author

Van Lancker, V., Baeye, M., Du Four, I., Janssens, R., Degraer, S., Fettweis, M., Francken, F., Houziaux, J.-S., Luyten, P., Van den Eynde, D., Devolder, M., De Cauwer, K., Monbaliu, J., Toorman, E., Portilla, J., Ullman, A., Liste, M., Fernández, L., Komijani, H., Verwaest, T., Delgado, R., De Schutter, J., Janssens, J., Levy, Y., Vanlede, J., Vincx, M., Rabaut, M., Vandenberghe, N., Zeelmaekers, E., and Goffin, A.

Published
2012

48. Towards more sustainable exploitation of economic activities in the EEZ [POSTER]

Author

Van Lancker, V., Baeye, M., Du Four, I., Degraer, S., Fettweis, M., Francken, F., Houziaux, J.-S., Luyten, P., Van den Eynde, D., Devolder, M., De Cauwer, K., Monbaliu, J., Toorman, E., Portilla, J., Ullman, A., Liste Muñoz, M., Fernández, L., Komijani, H., Verwaest, T., Delgado, R., De Schutter, J., Janssens, J., Levy, Y., Vanlede, J., Vincx, M., Rabaut, M., Vandenberghe, N., Zeelmaekers, E., and Goffin, A.

Subjects
Erosion, ANE, Belgium, Sediment dynamics, Sedimentation, Ecosystems
Published
2011

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