Koen Classens

Eindhoven University of Technology | TUE · Department of Mechanical Engineering

Photopolymerization-based Additive Manufacturing (AM), a technique in which a product is built in a layerwise fashion by local curing of a liquid monomer, is increasingly being adopted by the high-tech sector. Nevertheless, industry still faces several challenges to improve the repeatability of product quality, as recognized by several authorities...

A model-based optimal gait is obtained for the 2-D locomotion of a modular snake robot in a duct. Optimality is considered in the sense of traveling as fast as possible or traveling with minimal energy consumption. The novelty of the work lies in the development of a framework to cast the full dynamic behavior, including contact constraints with si...

In the context of additive manufacturing (AM) and 3D Printing, vat photopolymerization is an established technique in which photopolymer is selectively solidified to form a near-net-shape part. Photopolymerization-based AM is increasingly being adopted by the high-tech industry, but the technology still faces several challenges in terms of consiste...

Fault detection is essential in precision mecha-tronics to facilitate maintenance and minimize operational downtime. The aim of this paper is to develop a systematic procedure from identification to accurate nullspace-based fault diagnosis, accounting for the influence of noise and interaction in multivariable closed-loop control configurations. Th...

Block coordinate descent is an optimization technique that is used for estimating multi-input single-output (MISO) continuous-time models, as well as single-input single output (SISO) models in additive form. Despite its widespread use in various optimization contexts, the statistical properties of block coordinate descent in continuous-time system...

Digital twins are increasingly being developed for industrial high-tech systems. In this article, we outline the exciting opportunities that digital twins have to offer for fault diagnosis, predictive maintenance, and controller reconfiguration. The proposed solutions increase economic value by minimizing downtime through nonintrusive diagnostics.

The performance of fault detection filters relies on a high sensitivity to faults and a low sensitivity to disturbances. The aim of this paper is to develop an approach to directly shape these sensitivities, expressed in terms of minimum and maximum singular values. The developed method offers an alternative solution to the $\mathcal{H}_{-}/\mathca...

The condition of mechatronic production equipment slowly deteriorates over time, increasing the risk of failure and associated unscheduled downtime. A key indicator for an increased risk for failures is the shifting of resonances. The aim of this paper is to track the shifting resonances of the equipment online and during normal operation. This pap...

Cross-coupled iterative learning control (ILC) can achieve high performance for manufacturing applications in which tracking a contour is essential for the quality of a product. The aim of this paper is to develop a framework for norm-optimal cross-coupled ILC that enables the use of exact contour errors that are calculated offline, and iteration-...

Linearising the dynamics of nonlinear mechanical systems is an important and open research area. In this paper, we adopt a data-driven and feedback control approach to tackle this problem. A model predictive control architecture is developed that builds upon data-driven dynamic models obtained using nonlinear system identification. The overall meth...

The condition of systems, such as production equipment, typically deteriorates over time, increasing the risk of failure and associated unscheduled downtime. Predictive maintenance is a strategy to prevent failure, while maximizing the life cycle of equipment within a system. This paper contributes in this context to the theory of real-time fault d...

Additive manufacturing (AM) through photopolymerization is a prominent technique in which a photopolymer is selectively solidified towards a near net shape part, typically in a layer-wise manner. Photopolymerization-based AM is widely adopted in the high tech sector, but industry still faces several challenges to improve repeatable product quality....

This paper introduces the equations of motion of modular 2D snake robots moving in vertical plane employing Series Elastic Actuators (SEAs). The kinematics of such 2D modular snake robot are presented in an efficient matrix form and Euler-Lagrange equations have been constructed to model the robot. Moreover, using a spring-damper contact model, ext...

This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper co...