Professor Nobuyuki Iwatsuki
Vice President for Global Communication
Tokyo Institute of Technology, Japan
Speaker’s Bio: After receiving his bachelor's, master's, and doctoral degrees in mechanical engineering from Tokyo Institute of Technology in 1982, 1984, and 1987 respectively, Dr. Iwatsuki was hired as research associate at the Institute's Precision and Intelligence Laboratory. In 1994, he moved to the Faculty of Engineering, where he became associate professor a year later. From March 1999 to January 2000, he was a visiting scholar at the Ohio State University and Stanford University. Upon his return to Japan, he rejoined Tokyo Institute of Technology as associate professor at the Graduate School of Science and Engineering, where he earned the title of professor in January 2003. In April 2016, he was named professor and dean at the School of Engineering. Since October 2020, he has served as vice president for global communication. His research interests include the synthesis and control of robot mechanisms. He especially focuses on hyper redundant or underactuated mechanisms and novel flexible mechanisms in which passive elastic elements are installed. He is a member of the Japan Society of Mechanical Engineers, Japan Society for Precision Engineering and IFToMM Japan. He has served as a secretary general of ICMT2002, ICMT2010 and as co-chair of ICMT2015.
Title of Speech: A Flexibly Grasping and Manipulating Mechanism Composed of Many Elastic Cords and A Linkages
Aiming to realize to grasp and manipulate objects with a non-uniform shape or fragile structure using a simple mechanism, a novel mechanism composed of many elastic cords connecting two circular rings is proposed. By giving a relative rotation between the circular rings, the elastic cords wind around an object and the mechanism can grasp the object softly. By giving a relative translation, the mechanism can change the posture of the object.
Euler’s belt theory is extended to calculate the pressing and friction forces to a three dimensional object by an elastic cord. Motion of elastic cords on an arbitrary object modelled as a polyhedron and grasping force and moment acting on the object can then be theoretically calculated. Actual algorithm to judge contact, slippage, passing beyond vertex and taking off between an elastic cord and an object is established and coded by using optimization. The translational and angular motions of a grasped object due to relative displacements between the rings can then be calculated with an iterative calculation based on the equilibrium of the force and moment applied by elastic cords taking account of inertial forces. The performance to grasp objects with various shape is theoretically evaluated and is experimentally validated with a simple prototype.
The second prototype with a planar parallel mechanism with 2 DOF to give a pure relative translation between the rings is built and experimentally examined. The prototype mounted on a spatial serial robot arm can grasp a cylinder and insert it into a circular hole in inclined surface by utilizing posture control with translation between the rings and the flexibility due to the elastic cords which plays a role of the remote center compliance.
The third prototype in which the lower circular ring is replaced to the two-dimensional Hoberman link mechanism so as to magnify the diameter of the lower ring is designed and built. A new simple control system which can easily detect a longitudinal direction of an object with two cameras and pattern matching with ellipsoidal approximation and makes the mechanism approach to the detected longitudinal direction is developed. A robot arm equipped with the prototype can pick and place objects with various shapes, sizes and locations without any complicated control system.
Professor Huijun Gao
School of Astronautics
Harbin Institute of Technology, China
Speaker’s Bio: Prof. Huijun Gao received the Ph.D. degree in control science and engineering from Harbin Institute of Technology (HIT), China, in 2005, where he is currently a Professor. He is the founder and the director of the Research Institute of Intelligent Control and Systems, HIT.His research interests include network-based control, intelligent and robust control, robotics, mechatronics, and their engineering applications. He has published more than 100 papers in international journals, and has been authorized for over 100 patents of invention. He is also a highly-cited researcher since 2014.Prof. Gao is an IEEE Fellow, a Vice President of IEEE Industrial Electronics Society (IES), and a Council Member of IFAC. He was the Co-Editor-in-Chief of IEEE Trans. Industrial Electronics. He is also a Senior Editor of IEEE/ASME Trans. Mechatronics, and an Associate Editor of Automatica, IEEE Trans. Industrial Informatics, etc.
Title of Speech: Networked Control Systems with Industrial Applications
Recently, the analysis and synthesis of networked control systems (NCSs) have received increasing attention from both academic and industrial perspectives. Compared with traditional point-to-point control systems, the main advantages of NCSs are the low cost, flexibility, easy re-configurability, and their adaptation capability. Consequently, NCSs can be found in various areas such as power grids, water distribution networks, transportation networks, haptics collaboration over the Internet, mobile sensor networks. However, the introduction of communication channels in the control loop also brings network-induced critical issues or constraints such as variable transmission delays, data packet dropouts, packet disorder, quantization errors, which would significantly degrade the system performance or even destabilize the system in certain conditions. This talk will first introduce some elegant approaches to network-based control and estimation problems. Then, a novel two-layer network-based architecture and the overall tracking performance for operational control of industrial processes will be discussed.
Professor Josep M. Guerrero
Department of Energy Technology
Aalborg University, Denmark
Speaker’s Bio: Prof. Josep M. Guerrero (Fellow, IEEE) received the B.S. degree in telecommunications engineer- ing, the M.S. degree in electronics engineering, and the Ph.D. degree in power electronics from the Technical University of Catalonia, Barcelona, in 1997, 2000, and 2003, respectively. Since 2011, he has been a Full Professor with the Department of Energy Technology, Aalborg University, Aalborg, Denmark, where he is responsible for the Microgrid Research Program. In 2014, he was the Chair Professor with Shandong University. In 2015, he was a Distinguished Guest Professor with Hunan University. In 2019, he became a Villum Investigator by The Villum Fonden, which supports the Center for Research on Microgrids (CROM) at Aalborg University, being the Founder and the Director of the same centre. He is currently with the Center for Research on Microgrids (CROM), Department of Energy Technology, Aalborg University. He has published more than 600 journal articles in the fields of microgrids and renewable energy systems, which are cited more than 50 000 times.
Title of Speech: TBC
Dr Kheng-Lim Goh
Department of Mechanical Engineering
Newcastle University, Singapore
Speaker’s Bio: Kheng Lim Goh is a Chartered Engineer and Chartered Physicist with the Institute of Mechanical Engineers (UK) and Institute of Physics (UK). His research interest is in the repair of fibre reinforced composites used in aerospace and automotive engineering. He holds the position of Associate Professor at Newcastle Research and Innovation Institute (NewRIIS) and the Newcastle University in Singapore, and is affiliated to the Faculty of Science, Agriculture & Engineering, Newcastle University (UK). He leads the Advanced Composite Research Group at NewRIIS. Professor Goh has authored and co-authored over 80 papers in peer- reviewed journals, books and conferences that cover a wide range of composite materials, together with international collaborators from Argentina, Canada, India, Malaysia, Singapore, Sri Lanka and UK. His research theme underlies an understanding of the physical properties of natural and synthetic materials and implications for designing composites for engineering applications and for repairing damaged composites. He is the author of a book on 'Discontinuous-fibre reinforced composites: fundamentals of stress transfer and fracture mechanics' published by Springer.
Title of Speech: Towards Precision Repair of Damaged Fibre-reinforced Polymer Composites
The intent of this talk is to discuss some recent important developments and insights in repairing damaged fibre-reinforced composites. Aerostructures such as the fuselage of B787 which are made from fibre reinforced composite material are prone to damage. Apart from the economic consideration of aircraft-on-ground, the decision to repair or replace the structure by an undamaged one depends on the cost. In some cases, one could question if this is a sustainable approach from an environmental perspective. The composite structure may not be reused for safety reasons, although the composite material may be recycled. But more importantly, how can one make the option of repairing attractive so that the service life of the composite structure may be extended? In this talk I am delighted to share with you the recent studies conducted at my lab on impact damage-repair studies in fibre reinforced composites, healants and in situ repair systems, namely the resin-injection repair system, that could provide for a way for developing an effective strategy for repairing the damaged composite structure.