Henk Nijmeijer

Henk Nijmeijer
Eindhoven University of Technology | TUE · Department of Mechanical Engineering

PhD

About

988
Publications
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26,862
Citations

Publications

Publications (988)
Article
The latest generation wafer scanners use extreme ultraviolet light to project a pattern of electronic connections onto a silicon wafer. A significant part of the projection light is absorbed by the mirrors in the projection system. This causes the mirrors to heat up and expand, which leads to a significant reduction in the imaging quality of the wa...
Article
The motion complexity and use of exotic materials in soft robotics call for accurate and computationally efficient models intended for control. To reduce the gap between material and control-oriented research, we build upon the existing piece-wise constant curvature framework by incorporating hyperelastic and viscoelastic material behavior. In this...
Article
Full-text available
Authors' personal copy; accepted for publication Transport of scalar quantities such as e.g. heat or chemical species in laminar flows is key to many industrial activities and stirring of the fluid by flow reorientation is a common way to enhance this process. However, "How best to stir?" remains a major challenge. The present study aims to contrib...
Article
An important topic of research regarding cooperative platoons is merging vehicles into a platoon at highway on-ramps. This paper proposes a control strategy for the merging of a single cooperative automated vehicle into a platoon of vehicles at highway on-ramps. The proposed strategy can handle large differences in initial positions and velocities,...
Article
Full-text available
In this paper we report the implementation and experimental evaluation of a proposed hybrid communication ecosystem for CCAM applications such as cooperative adaptive cruise control (CACC) and smart intersections. Three wireless technologies have been suggested for communications between vehicles and intelligent traffic lights and are evaluated in...
Preprint
Full-text available
Scalar transport (e.g. heat or chemical species) in laminar flows is key to many industrial activities and fluid stirring by flow reorientation is a common way to enhance this process. However, "How best to stir?" remains a major challenge. This study aims to contribute to existing solutions by the development of a dedicated flow-control strategy f...
Article
This paper presents a design of a rule-based controller for a semi-active suspension system that improves the vehicle road holding behaviour. This behaviour is quantified by the evaluation of the dynamic tire deflection at each of the vehicle's wheels. The control rule switches based on the product of the unsprung mass- and suspension deflection ve...
Article
Full-text available
In the flourishing field of soft robotics, strategies to embody communication and collective motion are scarce. Here we report the synchronized oscillations of thin plastic actuators by an approach reminiscent of the synchronized motion of pendula and metronomes. Two liquid crystalline network oscillators fuelled by light influence the movement of...
Article
Full-text available
Aim of this paper is the enhancement of scalar transport (heat, chemical species) in flow systems with reorientations of a laminar base flow. Conventional heating/mixing protocols comprise of temporal or spatial periodic reorientations of these base flows to promote fluid mixing. However, thermal homogenisation rates of scalar fields are not necess...
Article
Full-text available
Vehicle automation is used to increase traffic throughput and road safety. Automated vehicles should be highly versatile to navigate on both highways and urban roads. To do so, fully automated autonomous vehicles often adopt motion planners to ensure collision-free and comfortable trajectories. In contrast, in cooperative driving, feedback control...
Conference Paper
Full-text available
Telemetry data is used to model and assess the energy consumption of battery electric buses. This paper presents telemetry data compression methods, which require less communication bandwidth to capture the energy consumption data without a loss of accuracy. These methods include calculating the longitudinal acceleration more reliably and reorderin...
Article
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The well-known method of images relates the solution of the heat equation on Rn (typically n = 2 or n = 3) to the solution of the heat equation on certain spatial subdomains Ω of Rn. By reformulating the method of images in terms of a convolution kernel, two novel extensions are obtained in this paper. First, the method of images is extended from t...
Conference Paper
Full-text available
The focus of this study is the performance evaluation of Cooperative adaptive cruise control (CACC) achieved with three different wireless technologies for vehicle-to-vehicle (V2V) communications, i.e., intelligent transport system (ITS) G5 based on 802.11p and mobile long term evolution (LTE). For communications with LTE we will consider both the...
Conference Paper
Full-text available
Over the last decade, many manufacturers brought battery electric city buses to the market. By organizing and categorizing the reported specifications of more than 100 of these vehicles, this paper aims to create an overview of the state-of-the-art. The used information is obtained from manufacturer websites and news sources. The results indicate t...
Preprint
The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlinear (NL) systems via convex methods. By extending results of the Linear Time-Invariant framework, mainly based on quadratic stability and $\mathcal{L}_2$-gain performance...
Conference Paper
Full-text available
Transport of scalars, in the form of heat or chemicals, by fluid flow is a key feature for the effective operation of applications that range from chemical species mixing to subsurface resource extraction. Therefore, enhancing transport of these scalars by improving their dispersion will prove beneficial to a large variety of industries. Systems th...
Article
We present a reset control approach to achieve setpoint regulation of a motion system with a proportional-integral-derivative (PID)-based controller, subject to Coulomb friction and a velocity-weakening (Stribeck) contribution. While classical PID control results in persistent oscillations (hunting), the proposed reset mechanism induces asymptotic...
Article
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A cooperative state estimation framework for automated vehicle applications is presented and demonstrated via simulations, the estimation framework is used to estimate the state of a lead and following vehicle simultaneously. Recent developments in the field of cooperative driving require novel techniques to ensure accurate and stable vehicle follo...
Article
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This work addresses the problem of pattern analysis in networks consisting of delay-coupled identical Lur’e systems. We study a class of nonlinear systems, which, being isolated, are globally asymptotically stable. Assembling such systems into a network via time-delayed coupling may result in the change of network equilibrium stability under parame...
Conference Paper
In this work, we describe an energy-based control method for under-actuated soft manipulators. The continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. Through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passi...
Article
It is well-known that the performance of linear time-invariant (LTI) feedback control is hampered by fundamental limitations. In this paper, it is shown that by using a so-called hybrid integrator-gain system (HIGS) in the controller, important fundamental LTI performance limitations can be overcome. In particular, in this paper, we show this for t...
Conference Paper
Full-text available
For cost-optimal utilization of battery electric delivery vans, energy consumption prediction is important. This paper presents a microscopic energy consumption tool, which requires the intended route as input. Both the velocity profile prediction algorithm and the subsequent energy consumption model are based on data obtained from dedicated vehicl...
Article
Full-text available
In view of the increasing electrification of public city transport, an accurate energy consumption prediction for Battery Electric Buses (BEBs) is essential. Conventional prediction algorithms do not consider energy losses that occur during turning of the vehicle. This is especially relevant for electric city buses, which have a limited battery cap...
Article
In the context of autonomous driving in urban environments accurate and reliable information about the vehicle motion is crucial. This article presents a multi-modal sensor fusion scheme that, based on standard production car sensors and an inertial measurement unit, estimates the three-dimensional vehicle velocity and attitude angles (pitch and ro...
Article
This letter shows that for a single-input single-output linear time-invariant plant having a real unstable open-loop pole, the overshoot inherent when using any stabilizing linear time-invariant feedback controller can be eliminated with a hybrid integrator-gain-based control strategy. Key design considerations underlying the presented controller...
Article
We overview a recent research activity where suitable reset actions induce stability and performance of PID-controlled positioning systems suffering from nonlinear frictional effects. With a Coulomb-only effect, PID feedback produces a set of equilibria whose asymptotic (but not exponential) stability can be certified by using a discontinuous Lyapu...
Conference Paper
Full-text available
In this work, we present a novel framework for synthesizing the design of pressure-driven soft robots. Contrary to traditional design methods, a topology optimization scheme is employed to find the optimal soft robotic structure given user-defined requirements. To our knowledge, the combination of pressure-driven topology optimization and soft robo...
Article
Integration of vibration energy harvesters (VEHs) with small-scale electronic devices may form an attractive alternative for relatively large batteries and can, potentially, increase their lifespan. However, the inherent mismatch between a harvester's high-frequency resonance, typically in the range 100-1000 Hz, relative to the available low-freque...
Chapter
A vehicle may experience lowly damped oscillations and stability issues when driving through a rut. The tire response to camber variations plays a decisive role in this phenomenon, which is known as wandering. Realistic ranges for the cornering, camber and other stiffnesses have been determined using a database with Magic Formula parameters for a l...
Article
Networks of coupled systems may exhibit a form of incomplete synchronization called partial synchronization or cluster synchronization, which refers to the situation where only some, but not all, systems exhibit synchronous behavior. Moreover, due to perturbations or uncertainties in the network, exact partial synchronization in the sense that the...
Article
In this letter, advection-diffusion equations with constant coefficients on infinite 1-D and 2-D spatial domains are considered. Suitable sensor and/or actuator locations are determined for which high-gain and low-gain proportional feedback can effectively reduce the influence of a disturbance at a point of interest. These locations are characteriz...
Article
In this paper, consensus for a network of dynamical systems which communicate over data-rate constrained communication channels is considered. Each system in the network is equipped with a sensor and an actuator which are at locations remote from one another. In order to transmit the state of any system to any of the actuators, the sensors use data...
Article
In this paper, a cooperative platoon-based gap opening controller is developed. The intended application is gap creation in cooperative platoons to accommodate merges with spatial restrictions. Therefore, the main objective is to execute the maneuver in a predefined time. The controller design is based on a regular cooperative adaptive cruise contr...
Article
Soft robots differ fundamentally from traditional robotics. Due to their composition of soft materials, soft robots are inherently compliant and allow for large continuum-bodied motion. Although some frameworks exist for describing the kinematics, the development of dynamic models intended for control-oriented applications is relatively scarce and,...
Article
In this paper, an event-triggered, data-rate constrained observer for discrete-time linear systems with perturbations is presented. The system is connected to a remote location by a communication channel which can only transmit limited numbers of bits per time interval. The system is subject to perturbations in its state as well as errors in the ou...
Article
An experimental demonstration is given of a nonlinear feedback controller applied to a short-stroke wafer stage system of an industrial wafer scanner. The controller design adopts a classical linear PID-based configuration in which both the integrator and low-pass filter are replaced with hybrid integrator-gain-based filter elements. The reduced ph...
Article
Road throughput can be increased by cooperative adaptive cruise control (CACC), which allows vehicles to drive at short inter-vehicle distances without compromising string stability by using wireless inter-vehicle communications. Practical application, however, may involve vehicles with different driveline dynamics, thus forming a heterogeneous pla...
Article
In this paper, a method for pattern analysis in networks of diffusively coupled nonlinear systems of Lur’e form is presented. We consider a class of nonlinear systems which are globally asymptotically stable in isolation. Interconnecting such systems into a network via diffusive coupling can result in persistent oscillatory behavior, which may lead...
Article
The definition of asymptotic stability for a trajectory of a hybrid system with state-triggered jumps is not straightforward. Nearby solutions jump at close but non-coincident times, making the standard notion of closeness, based on vector difference, unsuitable to compare trajectories point-wise in time. With tracking control as ultimate goal, we...
Article
Full-text available
Cooperative adaptive cruise control (CACC) employs intervehicle wireless communications to safely drive at short intervehicle distances, which improves road throughput. The underlying technical requirement to achieve this benefit is formulated by the notion of string stability, requiring the attenuation of the effects of disturbances in upstream di...
Article
Full-text available
Currently, the driver plays a crucial role in the safety of autonomous vehicles, functioning as the fall back for vehicle control systems. Fast and accurate detection of driver intervention is therefore of importance. In this article a novel driver intervention detection method for automated vehicles is presented and tested. Non-critical transition...
Article
Full-text available
This paper considers the problem of synchronizing a pair of oscillators with Huygens’ coupling to a desired periodic trajectory, by using feed-forward control. Two particular examples are considered: a modified version of the classical Huygens’ system of pendulum clocks coupled through a common bar and a pair of self-sustained mass–spring–damper os...
Article
An important step in the production of integrated circuits is the projection of the pattern of electronic connections on a silicon wafer. The light used to project the pattern moves over the wafer and induces a local temperature increase. The resulting thermal expansion of the wafer leads to a significant reduction in the imaging quality of next-ge...
Conference Paper
Full-text available
Scope is enhancement of scalar transport (heat, chemical species) in engineered flow systems by reorientations of a laminar base flow. Practical applications include mixing in inline heat exchangers by downstream reorientation of baffles, stirring in bio-reactors by cyclic repositioning of impellers, and subsurface chemicals distribution for in sit...
Article
This paper presents a novel extended look-ahead concept of an integrated lateral and longitudinal vehicle following controller with an orientation-error observer. The control law is based on input-output feedback to address a local tracking problem. It is known that due to the position control in the look-ahead approach, the follower vehicle may cu...
Article
One of the main safety concerns associated with semi-autonomous vehicles is the sharing of control between a human driver and an autonomous driving system. Even with an attentive driver, such switches in control may pose a threat to the safety of the driver and the surrounding vehicles. The aim of this study is to develop an indicator that can meas...
Article
This paper considers the effect of an antistall tool on the dynamics of deep drilling systems. Field results show that the antistall tool increased the rate of penetration (ROP) of drilling systems when compared with ROP in offset wells drilled without this tool. We developed a model–based approach to investigate the effect of this downhole tool on...
Preprint
The Linear Parameter-Varying (LPV) framework has long been used to guarantee performance and stability requirements of nonlinear (NL) systems mainly through the $\mathcal{L}_2$-gain concept. However, recent research has pointed out that current $\mathcal{L}_2$-gain based LPV synthesis methods can fail to guarantee these requirements if stabilizatio...
Article
We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robust...
Article
To bridge the gap between autonomous and normal steering during low lateral acceleration maneuvers, a steering-wheel torque controller is developed. It consists of three controllers in series, a high-gain feedback steering-wheel torque controller, a non-linear steering-angle controller and a linear yaw-rate controller. A validated two degrees of fr...
Article
This paper presents a detailed experimental comparison of control architectures for delayed bilateral teleoperation. The main goal is to illustrate the key differences in controller performance that can be expected in practice, independent of the human operator, as a function of the communication delay. Existing architectures can be divided into bi...
Conference Paper
Full-text available
Similar to electric vehicles for the consumer market, the driving range of battery electric city buses is still a limiting factor for market adoption. Furthermore, this driving range can vary depending on environmental conditions, the number of passengers, and driver behavior and is therefore often uncertain. This results in conservative charging s...
Preprint
We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be connected via vehicle-to-vehicle communication. The challenge arises with the uncertain driver reaction to a...