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Mechanical Engineering

Dynamics and Control of Lightweight Industrial Mobile Robot Manipulators for Smart Manufacturing under Industry 4.0

Zhengxue Zhou
Zhengxue Zhou

This project intends to research the dynamics and control of lightweight industrial mobile robot manipulators under Industry 4.0. Because of light weight, the component flexibility of the robot needs to be taken into account in the dynamics and control. It is also more important to analyse its dynamic problem by considering the influence of the dynamic interactions based on a more precise mathematical model. So, a new control scheme based on the model will be developed to make the mobile robot manipulator more efficient so they work safely alongside human co-workers for smart manufacturing under Industry 4.0. The control scheme can be optimised by considering dynamic compensation.

Finally, to validate and optimise the proposed kinematic and dynamic model and control scheme, extensive experiments will be conducted on a lightweight mobile robot manipulator.

ABOUT THE PROJECT


Project title:
Dynamics and control of lightweight industrial mobile robot manipulators for smart manufacturing under Industry 4.0

PhD student: Zhengxue Zhou

Contact: zhouzx@eng.au.dk

Project period: Sep 2019 to Aug 2022

Main supervisor: Assoc. Prof. Xuping Zhang

Research section: Mechanical Engineering


Development of robotic brace integrated with 3D-ultrasound for AIS treatment

Farhad Farhadi Yadkuri
Farhad Farhadi Yadkuri

The biggest problem in the orthopaedic profession is the medical condition known as adolescent idiopathic scoliosis (AIS). In this condition, a person’s spinal axis has a three-dimensional deviation from normal, with no cure currently available. The aetiology of adolescent idiopathic scoliosis (AIS) is unknown, but the extensive research results show that the problem can be reduced by decreasing the imbalance of forces along the spine. This motivates us to develop a robotic and wearable exoskeleton (brace) to restore the balance of forces along the spine with the aim of making a major breakthrough in the complementary treatment of AIS patients, which affects 1-3% of the population.

Preliminary work has been done: mechanical design of one steward platform, controller design and control system for one steward platform. The project will extend the preliminary work, and the objectives include:

  • develop the designed exoskeleton to three Stewart platform,
  • integrate the ultrasound sensors to the robotic system and design a control system,
  • validate the proposed control scheme and the mechanism, experiments will be conducted on the designed exoskeleton.

ABOUT THE PROJECT


Project title:
Development of robotic brace integrated with 3D-ultrasound for AIS treatment

PhD student: Farhad Farhadi Yadkuri

Contact: ffyadkuri65@eng.au.dk

Project period: Aug 2019 to July 2022

Main supervisor: Assoc. Prof. Xuping Zhang

Research section: Mechanical Engineering


Fundamental socio-techno-economic modelling of the energy system transformation and the derivation of long-term sustainable strategies for Denmark in a European context

Leon Joachim Schwenk-Nebbe
Leon Joachim Schwenk-Nebbe

The Danish government has announced plans to make the country fossil-fuel free by 2050. Likewise, the European neighbours have ambitious targets. This transformation is one of the biggest challenges of our society. Techno-economical modelling and optimisation approaches are able to deliver first guidance principles for such pathways, but more than this needs to be taken into account. The dynamics of investor decision making, the formation and design of new market rules, the influence of social acceptance and the impact of climate change are going to strongly influence the development of a future highly efficient energy technology portfolio. More fundamental knowledge of these interactions is required to supply policy and commercial decision makers with a quantitative description of how to implement the transformation of the energy system in the best possible, most cost-efficient and robust manner.

We will use our competencies in the modelling of networked renewable energy systems: the description of the Danish energy system will include the internal coupling between the energy sectors electricity, heating and transportation, and the external coupling to the energy systems of the neighbouring countries.

Optimal techno-economic systems will be derived, for instance by invoking an increase of the CO2 emission constraint, subsidising specific technologies, etc. The scenarios are transformed to pathways by modelling them as emerging from the current energy system. The transition dynamics of the individual nodes are analysed and compared. With the energy systems becoming more distributed - decentralised renewable capacity replaces centralised conventional generation capacity - the generation capacity does not only become more spatially distributed but also opens up the possibility for an increased number of smaller actors in the market. We will seek the right incentives and regulations which are necessary to guide a large amount of decentral investments to overall follow an optimal transformation of the energy system.

ABOUT THE PROJECT


Project title:
Fundamental socio-techno-economic modelling of the energy system transformation and the derivation of long-term sustainable strategies for Denmark in a European context

PhD student: Leon Joachim Schwenk-Nebbe

Contact: leonsn@eng.au.dk

Project period: March 2019 to Feb 2022

Main supervisor: Prof. Martin Greiner

Co-supervisors: Assoc. Prof. Gorm Bruun Andresen and Marianne Zandersen

Research section: Mechanical Engineering


Physics-based Modelling and Simulation of Arable Soil-Tool Interaction

AGROINTELLI is a Danish-based international development company with the goal of transforming research into products to the agricultural industry. The company relies on research-based development of products in the fields of robotics, machine vision and in-field navigation.

In agricultural engineering and research, tests and field trials are often limited to specific seasons. To accommodate this, modelling and simulation-based approaches are gaining ground in the industry.      

By means of this project, AGROINTELLI wishes to increase the focus on the sub-surface soil displacements of a tillage process. The scope of this research is methods for modelling and simulating arable soil-tool interaction. Hereby we can test, evaluate and optimise a soil-engaging tool in a virtual setting before entering the field.

ABOUT THE PROJECT


Project title: 
Physics-based modelling and simulation of arable soil-tool interaction

PhD student: Frederik Foldager

Contact: ffo@eng.au.dk

Project period: April 2018 to March 2021

Main supervisor: Prof. (Docent) Ole Balling

Research section: Mechanical Engineering


Modal Dynamics and Design Analysis of Multi‐Rotor Wind Turbines

Oliver Tierdad Filsoof

Project description:
The dynamics of wind turbines with multiple rotors connected on a single structure is more complex than that of conventional wind turbines with a single-rotor. In the design of multi-rotor turbines, it is therefore important to have appropriate estimates of the system and modal frequencies. Various modal analysis methods are available for single-rotor wind turbines, but there are no report and guidance on the modal property analysis of multi‐rotor wind turbines. This PhD will thus be the first state‐of‐the‐art on modal analysis of multi‐rotor wind turbines.

Research Questions
The basic research questions of this PhD project are:

  • What are the modal dynamics for multi-rotor wind turbines with different number of rotors?
  • What is the optimal design for multi-rotor wind turbines based on resonance response and stability?

Objective
The overall objective of this project is to develop a methodology for modal analysis of multi-rotor wind turbines by leveraging the technologies in multibody dynamics, structural dynamics and aerodynamics of wind turbines.

ABOUT THE PROJECT


Project title:
Modal dynamics and design analysis of multi‐rotor wind turbines

PhD student: Oliver Tierdad Filsoof

Contact: otf@eng.au.dk

Project period: Jan 2018 to Jan 2021

Main supervisor: Assoc. Prof. Xuping Zhang

Co-supervisor: Morten Hartvig Hansen

Research section: Mechanical Engineering