Heikki Handroos

Heikki Handroos
Lappeenranta – Lahti University of Technology LUT · Department of Mechanical Engineering

M.Sc, D.Sc

About

248
Publications
36,708
Reads
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1,553
Citations
Citations since 2017
108 Research Items
1000 Citations
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2017201820192020202120222023050100150200250300
2017201820192020202120222023050100150200250300
Introduction
Full Professor in Machine Automation. Research interests range from modeling and simulation of mechatronics systems to control and robotics. Recent research projects are focused into topics such as applications of digital twins in IoT systems in mobile working machine industry, usability assessment in virtual prototyping of machines through intelligent analytics measured from human operator, integrated electric-hydraulic energy converters, robust and fault-tolerant control, novel Kalman filter methods.
Additional affiliations
August 1992 - present
Lappeenranta – Lahti University of Technology LUT
Position
  • Professor (Full)
April 1984 - December 1992
Tampere University
Position
  • Researcher, Senior Assistant
Education
May 1987 - May 1991
Tampere University
Field of study
  • Hydraulics and Automation
August 1979 - May 1985
Tampere University
Field of study
  • Hydraulics and Automation

Publications

Publications (248)
Article
Full-text available
The objective of this research was to investigate utilizing small to medium-scale wind energy in domestic heating without considerable losses by direct conversion of the wind energy to thermal energy through a hydraulic medium. For this purpose, the virtual wind turbine mathematical model was developed in Simulink. Using hardware-in-the-loop (HIL)...
Article
The paper considers the proposed method for the camera-less remote surveillance on hydraulically actuated heavy equipment. The method uses the data about the pressure and position of hydraulic actuators as an input. These data are transmitted over the internet in the Internet of Things (IoT) environment to the IoT cloud computing platform. A simula...
Article
Full-text available
Hardware in-the-loop (HIL) simulation Tip speed ratio a b s t r a c t The objective of this research was to investigate utilizing small to medium-scale wind energy in domestic heating without considerable losses by direct conversion of the wind energy to thermal energy through a hydraulic medium. For this purpose, the virtual wind turbine mathemati...
Article
Full-text available
This paper presents various perspectives on designing and implementing a communication platform for a teleoperated mobile robot. The deployment of a communication network for a mobile robot and the integration of robot components in the developed communication platform are discussed in this article. A Wi-Fi-based communication network has been esta...
Preprint
Full-text available
Robotic peg-in-hole assembly is an essential task in robotic automation research. Reinforcement learning (RL) combined with deep neural networks (DNNs) lead to extraordinary achievements in this area. However, current RL-based approaches could hardly perform well under the unique environmental and mission requirements of fusion applications. Theref...
Article
Full-text available
Although deep neural network (DNN)-based robot grasping has come a long way, the uncertainty of predicted results has prevented DNN-based approaches from meeting the stringent requirements of some industrial scenarios. To prevent these uncertainties from affecting the behavior of the robot, we break down the whole process into instance segmentation...
Article
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Offshore oil production and transportation of oil by pipelines and tankers are associated with the risks of an oil spill, and accidents of various scales, from emissions of several liters to several thousand tons, occur regularly in different parts of the world. Currently, there are no automatic or automated systems for responding to such incidents...
Article
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Process online monitoring is a vital and integral part of high-speed laser scribing process in which speed and quality are paramount. In this study, a multi-sensory platform for real-time monitoring of the ultrafast pulsed laser engraving process has been developed. Four different sensors have been examined from various perspectives and the results...
Article
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The objective of this study was to develop a novel real-time monitoring and control method for ultra-fast laser scribing processes utilizing spectrometer. Adjustment of laser process parameters such as laser power with high precision in real-time is critical in the laser engraving process due to the premium quality and speed requirements of the pro...
Article
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This paper introduces a brain control bionic-hand, and several methods have been developed for predicting and quantifying the behavior of a non-linear system such as a brain. Non-invasive investigations on the brain were conducted by means of electroencephalograph (EEG) signal oscillations. One of the prominent concepts necessary to understand EEG...
Article
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Disabled patients using brain computer interface (BCI) applications have a more convenient life. The present study implements an electroencephalogram (EEG)-based signal processing algorithm for controlling a wireless mobile vehicle through imagination. The aim is to improve the filtered common spatial pattern (CSP) algorithm for BCI applications. T...
Article
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Laser scribing is developing rapidly in industrial applications as a method of material processing, especially in areas that require high levels of precision. This technology provides functionality and efficiency improvements in the manufacturing of solar panels. Due to the premium quality and speed requirements of the laser scribing technology, mo...
Article
Full-text available
This paper describes an estimator incorporating the Unscented Kalman Filter (UKF) technique and multibody system dynamics, to determine the state of the flexible multibody applications. The dynamic equation of the flexible mechanism is formed using a set of non-linear equations as functions of reference and modal coordinates. Since both reference a...
Article
Full-text available
Real-world products and physics-based simulations are becoming interconnected. In particular, real-time capable dynamic simulation has made it possible for simulation models to run in parallel and simultaneously with operating machinery. This capability combined with state observer techniques such as Kalman filtering have enabled the synchronizatio...
Article
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The modeling and simulation of fluid power systems are essential parts of the real-time simulation of virtual prototypes of mobile working machines. In several cases in the dynamic simulation of such fluid power systems, a longer simulation time is required. This makes the traditional mathematical models inefficient for real-time simulations, parti...
Article
Full-text available
Physics-based digital twins for heavy equipment provide a powerful tool for improving operation and maintenance activities. In contrast to data-driven models, they present more explainable and confident results but require more computational power. Besides the problem of physics-based digital twins creation, there is a task of managing their lifecy...
Article
Full-text available
Multibody system dynamics approaches together with state estimation methods can reduce the need for a large number of sensors, especially in the digital twin of working mobile machinery. To demonstrate this, a hydraulically actuated machine was modeled using the double-step semi-recursive multibody formulation and lumped fluid theory in terms of sy...
Article
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The energy efficiency of non-road mobile machinery can be improved by using e.g., an electric drive system as a servo controller of a hydraulic machine to get an efficient electro-hydraulic (EH) converter. However, the cooling of EH devices require more understanding and new innovations. This work presents a design of a 7-kW integrated EH machine a...
Article
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Controlling a remote mobile vehicle using electroencephalograph (EEG) signals is still a challenge specially achieving a high degree of accuracy and precision. In the present study, the focus is on implementing an efficient feature space in a deep-based learning (DL) algorithm for a single trial application. More specifically, a boosting feature al...
Conference Paper
The present paper compares the efficiency and dynamic behavior of a log crane while using two alternative transmissions. Firstly, the conventional mobile hydraulic valves with a load-sensing pump is used, and secondly, a novel electric-hydraulic energy converter and a direct driven hydraulic actuator is used. By applying lumped parameter models and...
Conference Paper
Full-text available
A novel intelligent experimental research environment (LUTERGO laboratory) for developing the usability of off-road machines was created at LUT University. The environment combines a real-time simulator and an experimental system for measuring human body responses when driving the virtual prototypes of machines. Based on the quantities measured fro...
Article
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Direct Metal Laser Sintering (DMLS) is an advanced additive manufacturing (AM) technique for the 3D printing of metals. This technology is also beneficial in the jewelry industry, where precious metals are used, and the design and price are determinative factors. In this paper, the metal 3D printing process for jewelry production is discussed. Four...
Article
Full-text available
Brain-Controlled Vehicle (BCV) is an already established technology usually designed for disabled patients. This review focuses on the most relevant topics on brain-controlled vehicles, with a special reference to the terrestrial BCV (e.g., the mobile car, car simulator, real car, graphical and gaming car) and the aerial BCV, also called BCAV (e.g....
Article
Full-text available
This paper proposes a novel robust proportional integral non-singular terminal synergetic control (PI-NTSC) for a class of affine nonlinear systems. To counteract the effects of the disturbances, a hybrid nonlinear disturbance observer (HNDOB) scheme is proposed to estimate the matched and mismatched disturbances. A novel proportional integral non-...
Article
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Heavy equipment operation is a responsible and difficult task causing mental workload on a human operator and exposing the operator to a range of harmful factors. Human factors and ergonomics in heavy equipment design have traditionally been focused on anthropometry and questionnaires. More advanced techniques involving biosignal measurements were...
Chapter
This article discusses and elaborates the experiences in coordinating the curriculum for education HFE among Asian countries including Malaysia, Singapore, Taiwan, Japan, Indonesia, India, Thailand, and the Philippines.
Article
Full-text available
Additive manufacturing technology has been developed in the manufacturing industry; however, limited choice of materials and low printing speeds in large-scale production make 3D printing challenging in the industry. Wood and cellulose-based materials have recently drawn a lot of attention for use as 3D printing materials due to their unique proper...
Article
Full-text available
This paper proposes an active fault-tolerant control (FTC) scheme for robotic manipulators subject to actuator faults. Its main objective is to mitigate actuator faults and maintain system performance and stability, even under faulty conditions. The proposed FTC design combines the robustness and finite time convergence of non-singular terminal syn...
Article
In soft robotics, there is still a great need for a universal but simple gripper that realizes a high level of adaptability as well as a gentle touch to a wide variety of unknown objects of different size, shape, stiffness, and weight without the use of sensors or vision. Various, mostly complex grippers already exist based on certain actuation con...
Article
The objective of this research work was to develop a model of human skeleton with the capability of real-time simulation of the physical movements of a person in front of the motion capture hardware (Kinect) in order to analyze the motion data and measure the changes of joint torques. Mevea simulation software has been utilized for this purpose, wh...
Article
The present paper introduces a mobile robot machine for the fusion reactor and presents its implementation. The task of the robot is to carry out assembly work inside the fusion reactor vacuum vessel, the assembly work consists of scanning, machining, splice plate transportation, welding, nondestructive testing (NDT), defect welding point cutting a...
Article
This paper presents the development and implementation of an advanced control system for a hydraulic manipulator. Designing a suitable coordinate control system for materials handling machines is vital for desired machine performance. For this purpose, targets of developing a proper coordinate control system were defined and mathematical equations...
Article
Full-text available
In this paper, utilizing the technology of color laser marking of stainless steel in industrial productions is investigated from the perspective of repeatability and stability of produced color markings. The color laser marking has remarkable advantages over conventional metal coloring methods; however, in order to implement this technology in indu...
Article
In this paper, a practical method is proposed for the efficient solution of fiuid power systems with singularities originating (in particular) from the presence in the system of small volumes. The method is based on the use of an enhanced version of the pseudo-dynamic solver (the advanced pseudo-dynamic solver), which seeks the steady-state solutio...
Conference Paper
This paper proposes a Fault Tolerant Control (FTC) scheme for a 2-DoF robotic system. The design is based on a new integral non-singular terminal sliding mode control (INTSMC) framework and aims at mitigating actuator faults whilst guaranteeing finite time convergence of the states. The design includes a comprehensive actuator fault model that enco...
Article
Full-text available
Machinery devices often consist of mechanical mechanisms that are actuated by fluid power systems. In many applications, the mechanical system can be modelled and analysed in terms of the multibody system dynamics. Fluid power systems, in turn, can be analysed via the lumped-fluid theory, with which simulation of fluid power systems requires smalle...
Article
In a complicated fusion device, the robot is at risk of colliding with its surroundings when it moves. In this article, a hybrid collision detection perceptron is studied to ensure the safety for both the fusion device and the robot. Primary component analysis is adopted as a preprocessor for extracting the features of the data. The stochastic grad...
Conference Paper
This paper proposes an adaptive integral non-singular terminal sliding mode control in combination with a neural network (INTSMC-NN) for nonlinear servo-hydraulic actuator systems. The proposed controller has the advantages of the conventional non-singular terminal sliding mode control; it can tolerate external disturbances, evades the singularity...
Conference Paper
The work addresses the problem of the fast and accurate calculation of the mathematically stiff hydraulic models using the modified pseudo-dynamic solver (PDS). In particular, it studies which of the numerical integration methods inside the modified PDS ensure efficient calculation of the stiff hydraulic model. In the work, the operating principle...
Conference Paper
Parameter identification is one of most interesting fields for researchers in control engineering field. Different methods have been investigated in recent years. Methods can be divided into two main categories: mathematical based methods and artificial intelligence approaches. Mathematical approaches also known as traditional method which uses dif...
Article
Full-text available
One type of effective muscular disorders therapy is horseback riding. The main objective of the present study is developing a physiotherapeutic simulator (concept proof) instead of a real horse though employing the Electroencephalography (EEG) amplifier and inertial motion capture system (IMCS). In the experiment, the professional and non-professio...
Article
This paper proposed a novel finite synergetic control scheme. This controller utilizes an integral non-singular terminal attractor technique that guarantees the finite-time convergence of the states, solves the singularity problem of a conventional terminal attractor manifold, and provides a chattering-free control signal. The principles of this co...
Chapter
Full-text available
Based on a case of a real-world fully automated robot-based manufacturing system, this chapter discusses the requirements and the reality of constructing such systems, the underlying know-how needed for successful construction and operating of fully automated manufacturing systems and future directions in fully automated manufacturing systems.
Conference Paper
Full-text available
Internet of Things (IoT) technologies are steadily growing. Millions of devices are now connected to each other and the internet; they communicate and share data. Another technology that has been taking traction is Brain-Computer Interface (BCI), which get brain signals and convert them into commands that are employed for control of different appli...
Article
Full-text available
Several methods utilizing common spatial pattern (CSP) algorithm have been presented for improving the identification of imagery movement patterns for brain computer interface applications. The present study focuses on improving a CSP-based algorithm for detecting the motor imagery movement patterns. A discriminative filter bank of CSP method using...
Article
The Chinese Fusion Engineering Testing Reactor (CFETR) is a superconducting Tokamak device that needs delicate maintenance. The Multi-Purpose Deployer (MPD), a redundant and heavy robot for remote handling (RH), is used to repair and monitor the device. For a redundant robot doing maintenance in complicated surroundings, the accurate and efficient...
Preprint
Full-text available
Brain-controlled vehicle (BCV) is an already established technology usually designed for disabled patients. This review focuses on the most relevant topics on the brain controlling vehicles, especially considering terrestrial BCV (e.g., mobile car, car simulators, real car, graphical and gaming cars) and aerial BCV, also named BCAV (e.g., real quad...
Article
The assembly of vacuum vessel (VV) is a vital task for the fusion reactor. This paper introduces simulation of a parallel robot built up for the assembly of fusion reactor CFETR (Chinese Fusion Engineering Test Reactor) to carry out welding of adjacent VV sectors using splice plates, and machining in case some sectors need to be replaced for repair...
Article
Full-text available
Recent developments in artificial intelligence (AI) modeling tools allows for envisaging that AI will remove elements of human mechanical effort from welding operations. This paper contributes to this development by proposing an AI tungsten inert gas (TIG) welding algorithm that can assist human welders to select desirable end factors to achieve go...
Article
Full-text available
This study introduces a fuzzy based optimal state estimation approach. The new method is based on two principles: Adaptive Unscented Kalman filter, and Fuzzy Adaptive Grasshopper Optimization Algorithm. The approach is designed for the optimization of an adaptive Unscented Kalman Filter. To find the optimal parameters for the filter, a fuzzy based...
Article
Depending on the task of a decision-support system, the underlying computer simulation can be carried out in real time or faster than real time. The required high simulation speed is a major obstacle in employing the more advanced simulation models. The work addresses the question of the recurrent neural network (RNN) usage for the faster than real...
Article
Full-text available
[Purpose] Hippotherapy is an unusual type of treatment and has been found to be effective for diseases of the musculoskeletal system and rehabilitation. Horseback riding simulator is used as a beneficial alternative to the real horse with utilizing an optical motion capture system and EEG. [Participants and Methods] The idea is to monitor body and...
Article
Full-text available
One critical issue in brain computer interface (BCI) studies is to extract imaginary movement patterns from electroencephalograph (EEG). In this study, two different techniques —detrended fluctuation analysis (DFA) and discrete wavelet packet transform— are combined (DWPT-DFA) for feature extraction. Both approaches are known as self-similarity qua...
Article
Full-text available
The method and its implementation are proposed that allow estimating the fatigue life of mechanical structure of hydraulically actuated mobile working machines. The method does not use stress or strain gauges and relies just on the data about the pressure and position of hydraulic cylinders actuating the machine components. These data are measured...
Article
Full-text available
This study investigates a method for imaginary hand fisting pattern recognition based on the Electroencephalography (EEG). The proposed method estimate the Largest Lyapunov Exponent (LLE) chaotic feature, which is based on approximation of mutual information (MI) and false nearest neighbor (FNN) methods for reconstructing a phase space. The selecte...
Article
Full-text available
In this study, a new integral non-singular terminal sliding mode control method for nonlinear systems is introduced. The proposed controller is designed by defining a new sliding surface with an additional integral part. This new manifold is first introduced into the second-order system and then expanded to nth-order systems. The stability of the c...
Article
This paper introduces a new adaptive Kalman filter for nonlinear systems. The proposed method is an adaptive version of the square-root unscented Kalman filter (Sr-UKF). The presented adaptive square-root unscented Kalman filter (ASr-UKF) is developed to estimate/detect the states of a nonlinear system while noise statistics that affect system meas...