M. Steinbuch

M. Steinbuch
Eindhoven University of Technology | TUE · Department of Mechanical Engineering

About

632
Publications
129,924
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11,194
Citations
Additional affiliations
August 1999 - present
Eindhoven University of Technology
Position
  • Professor (Full)

Publications

Publications (632)
Article
This paper uses agent-based modelling to quantify the effectiveness of static charge schedules for electric vehicles as a practical short-term solution to low-voltage grid congestion from charging electric vehicles. Static charge schedules are relatively easy to implement, and the results show that they can postpone, or even avoid, costly grid inve...
Article
Full-text available
Aims This article explores the tank-to-wheel energy consumption of passenger transport at full adoption of fit-for-purpose shared and autonomous electric vehicles. Background The energy consumption of passenger transport is increasing every year. Electrification of vehicles reduces their energy consumption significantly but is not the only disrupt...
Article
Full-text available
Technology in a broad sense is driven by developments in semiconductor technology, particularly with respect to the computational power of devices and systems, as well as sensor technology. The progress of semiconductor technology has demonstrated an exponential curve since the middle of the previous century, representing Moore's Law. Consequently,...
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Aims Exploring the impact of full adoption of fit-for-demand shared and autonomous electric vehicles on the passenger vehicle fleet of a society. Background Shared Eutonomous Electric Vehicles (SAEVs) are expected to have a disruptive impact on the mobility sector. Reduced cost for mobility and increased accessibility will induce new mobility dema...
Article
This paper proposes a multi-loop single-input single-output control strategy for multi-axis vibration isolation systems. In this strategy, a combination of acceleration feedback and relative position feedback is used to improve the suppression of disturbances acting directly on the isolated payload. In addition, feedforward control is used to count...
Article
The alignment and fixation of multiple single-mode optical fibers to photonic integrated circuits is currently a challenging, expensive and time-consuming task. In this paper, we present a concept for a sub micrometer accurate multi-fiber array where fibers are actively aligned with respect to each other and fixated to a flat carrier using UV-curab...
Article
This paper presents a disturbance feedforward control strategy for active vibration isolation systems that have internal isolator dynamics. The structure of the feedforward controller follows from modeling, but to achieve robust performance the tuning of the controller parameters will be based on measurement data. More specifically, the controller...
Conference Paper
Full-text available
As an important input for the simulation and design process of powertrains, a driving cycle needs to be representative of real-world driving behavior. For the purpose of reducing the time consumption in the simulation, a novel modeling method is required to get a representative short driving cycle from the driving datasets. In this paper, a stochas...
Article
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This paper introduces a three-dimensional volumetric representation for safe navigation. It is based on the OctoMap representation framework that probabilistically fuses sensor measurements to represent the occupancy probability of volumes. To achieve safe navigation in a domestic environment this representation is extended with a model of the occu...
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Full-text available
The energy domain is still dominated by equilibrium models that underestimate both the dangers and opportunities related to climate change. In reality, climate and energy systems contain tipping points, feedback loops, and exponential developments. This paper describes how to create realistic energy transition management models: quantitative models...
Article
For the planned teleoperated maintenance of the experimental fusion plant ITER the time performance will be critical. Telemanipulated task execution is however characterised by long execution times compared to similar tasks performed hands-on. There is little quantitative research on task performance of telemanipulated maintenance available to give...
Article
Telemanipulation techniques allow for human-in-the-loop assembly and maintenance tasks in otherwise inaccessible environments. Although it comes with limitations in achieved performance - required strict operator selection and extensive training are widely encountered - there is very little quantitative insight in the exact problems operators encou...
Article
Creating a driving cycle (DC) for the design and validation of new vehicles is an important step that will influence the efficiency, functionality and performance of the final systems. In this work, a DC synthesis method is introduced, based on multi-dimensional Markov Chain, where both the velocity and road slope are investigated. Particularly, im...
Article
Active vibration isolation is essential for industrial high-precision systems to suppress both floor vibrations and direct disturbance forces. This paper proposes a systematic H∞ feedback and feedforward controller design to suppress both types of disturbances with minimum amplification of sensor noise. Regarding the latter, parametric disturbance...
Article
The widespread acceptance of frequency domain techniques for linear and time invariant systems has been an impetus for the extension of these methodologies toward nonlinear systems. However, differences and equivalences between alternative methods have been less addressed. This paper provides a comparative overview of four classes of frequency doma...
Article
This paper presents a method to apply robust mass dampers on an industrial high-precision motion stage design and shows a substantial improvement of the modal damping of the stage's resonances. The robust mass damper is a passive add-on device with very high damping. The damper placement is based on mode shape analysis. Algorithms are used to optim...
Article
This paper proposes a practical tuning guide for mixed feedback and feedforward control design of active soft-mounted vibration isolators. A model is derived based on measured frequency response function data obtained from an industrial vibration isolator. Using this model, feedback and feedforward controllers are designed and evaluated. The mixed-...
Article
The focus of this paper is on the development of time-delay filters to accomplish tracking of periodic signals with zero phase errors. The class of problems addressed include systems whose dynamics are characterized by lightly damped modes. A general approach for the zero-phase tracking of periodic inputs is presented followed by an illustration of...
Article
In this paper we demonstrate the advantage of applying viscoelastic materials instead of purely viscous materials as damping medium in mechanical dampers. Although the loss modulus decreases as function of frequency in case of viscoelastic behavior, which can be interpreted as a decrease of damping, the viscoelastic behavior still leads to an incre...
Article
Objective: Design a new surgical robot which can aid surgeons during precision bone removal in the lateral skull base. It should be able to increase precision, safety and speed of bone removal procedures with guidance of preoperative (CT) image data. In some cases, for example, cochlear implantations, it should facilitate less invasive bone removal...
Article
A motion planner for mobile robots is commonly built out of a number of algorithms that solve the two steps of motion planning: 1) representing the robot and its environment and 2) searching a path through the represented environment. However, the available literature on motion planning lacks a generic methodology to arrive at a combination of repr...
Chapter
The field of mechatronics started in the 1970s when mechanical systems needed more accurate controlled motions. This forced both industry and academia to explore sensors, and electronic assisted feedback, while using mostly electrical drives instead of, for instance, mechanical cam shafts in production facilities. This introduction of feedback-cont...
Article
This paper describes a new method to synthesize driving cycles, where not only the velocity is considered but the road slope information of the real-world measured driving cycle as well. Driven by strict emission regulations and tight fuel targets, hybrid or electric vehicle manufacturers aim to develop new and more energy- and cost-efficient power...
Article
The optimal design of a hybrid electric vehicle can be formulated as a multi-objective optimization problem that spreads over multiple levels (technology, topology, size and control). In the last decade, studies have shown that, by integrating these optimization levels fuel benefits are obtained, which go beyond the results achieved with solely opt...
Article
In this paper, multisine frequency response function identification is used for non-parametric modelling of the air path of a turbocharged diesel engine around a fixed operating point. The variable geometry turbine (VGT) and exhaust gas recirculation (EGR) valve are used as inputs. The nitrogen oxide emissions, air-fuel equivalence ratio, and press...
Article
The aim of this work is the illustration of time-delay filter applications for three current industrial high-performance motion control problems. The main focus is on time-delay filters that enable zero phase tracking of periodic signals, however this is not a restriction for the introduced approaches. The first problem introduced in this paper is...
Article
Tokamaks are used to confine high temperature plasmas for nuclear fusion research.In this work we apply model predictive control to the transport process in a tokamak plasma that can be described by a set of nonlinear coupled partial differential equations, where the controlled quantities are the current density distribution and stored thermal ener...
Article
Purpose: Currently applied calibration approaches lead to satisfying 3D roadmapping overlay and 3D reconstruction accuracies; however, the required calibration times are extensive. The aim of this paper is the introduction of a novel model-based approach for geometric system calibrations, leading to a significant reduction of calibration times. M...
Conference Paper
Tokamaks are used to confine high temperature plasmas for nuclear fusion research.In this work we apply model predictive control to the transport process in a tokamak plasma that can be described by a set of nonlinear coupled partial differential equations, where the controlled quantities are the current density distribution and stored thermal ener...
Article
Full-text available
With an increasing number of assistive robots operating in human domains, research efforts are being made to design control systems that optimize the efficiency of multi-robot operations. As part of the EU funded RoboEarth project, this paper discusses the design of such a system, where a variety of existing components are selected and combined int...
Conference Paper
We assess the concept of electrically supercharged internal combustion engines, where the supercharger, consisting of a compressor and an electric motor, draws electric power from a buffer (a battery or a supercapacitor). In particular, we investigate the scenario of downsizing the engine, while delivering high power demands by supercharging. Simul...
Conference Paper
Building a plug-in hybrid electric vehicle that has a low fuel consumption at low hybridization cost requires detailed design optimization studies. This paper investigates optimization of a PHEV with a series powertrain configuration, where plant and control parameters are found concurrently. In this work two often used methods are implemented to f...
Article
In industrial precision positioning systems the measurement position is hardly ever the same as the location of the actuator. The properties and imperfections of the actuator and the underlying components between the sensor and the actuator mainly lead to deterministic reproducible position errors. The advantage of these systematic cyclic disturban...
Article
The aim of this work is the development of time-delay filters that enable tracking of periodic signals with zero phase error. Time-Delay control or input-shaping is a proven technique to reduce motion induced vibrations for systems with lightly damped modes subject to point-to-point movements. An extension is proposed for systems subject to periodi...
Article
With disturbance feedforward compensation (DFC), input disturbances are measured and compensated to cancel the effect of the disturbance. Perfect cancellation is not possible in practice due to the causal nature of DFC, in which the compensation generally comes too late. Therefore, non-perfect plant inversion, controller discretization and sensor d...
Article
Learning and repetitive control are powerful instruments in handling recurring disturbances. Repetitive control properly handles constantly repeating variations, while iterative learning control is well-equipped when it comes to handling event triggered deviations. Neither controller is well equipped to adequately deal with repetitive disturbances,...
Article
Full-text available
This paper presents the use of a state of the art damper for high-precision motion stages as a sliding plate rheometer for measuring linear viscoelastic properties in the frequency range of 10 Hz–10 kHz. This device is relatively cheap and enables to obtain linear viscoelastic (LVE) fluid models for practical use in precision mechanics applications...
Article
Full-text available
The inherent transparency-stability tradeoff in bilateral teleoperation poses a challenge to design controllers that find a proper balance between both requirements. Furthermore, when the environment of the teleoperation system varies within a large range, a single controller might not be sufficient to achieve both stability and high performance. I...
Article
This paper describes the computation and use of transfer function data (TFD) computed from frequency response data of a system. TFD can be regarded as a sampled, data-based representation of the transfer function. TFD can be computed from frequency response data for stable, lightly damped systems using a Cauchy integral. Computational accuracy and...
Article
Feedforward control can significantly enhance the performance of motion systems through compensation of known disturbances. This paper aims to develop a new procedure to tune a feedforward controller based on measured data obtained in finite time tasks. Hereto, a suitable feedforward parametrization is introduced that provides good extrapolation pr...
Article
Experimental data is crucial during the design and analysis of feedback control systems. Especially for LTI systems, the frequency domain has appeared to be a favorable domain to describe the dynamics of the system at hand. However, due to practical constraints, frequency response data can only be measured on a finite number of frequency points. On...
Article
This paper presents the idea to exploit the similarity between the Van der Pol equation and the Greitzer lumped parameter model. The Greitzer model is a widely used nonlinear model to describe surge transients in turbocompressors. One of the difficulties in applying this model is the identification of the model parameters. Usually, a priori knowled...
Article
Full-text available
This paper presents the modeling and control of a waste heat recovery system for a Euro-VI heavy-duty truck engine. The considered waste heat recovery system consists of two parallel evaporators with expander and pumps mechanically coupled to the engine crankshaft. Compared to previous work, the waste heat recovery system modeling is improved by in...
Article
This brief presents a novel and time-efficient control design for modern heavy-duty diesel engines using a variable geometry turbine and an exhaust gas recirculation valve. The goal is to simultaneously and robustly achieve low fuel consumption and low emissions of nitrogen oxides (NOx) and particulate matter (PM). A new combination of three contro...
Article
Iterative learning control (ILC) is a control technique for systems subject to repetitive setpoints or disturbances. However, in many applications, the setpoint is not strictly repetitive, and the learning process should start all over from the beginning if the setpoint changes. In this brief, point-to-point movements with different magnitudes will...
Article
Increasing performance requirements lead to a situation where performance variables need to be explicitly distinguished from measured variables. The performance variables are not available for feedback. Instead, they are often available after a task. This enables the application of batch-to-batch control strategies such as Iterative Learning Contro...
Article
A controller is designed for the tokamak safety factor profile that takes real-time-varying operational and physics limits into account. This so-called model predictive controller (MPC) employs a prediction model in order to compute optimal control inputs that satisfy the given limits. The use of linearized models around a reference trajectory resu...
Article
Model-based control design requires a careful specification of performance and robustness requirements. In typical norm-based control designs, performance and robustness requirements are specified in a scalar optimization criterion, even for complex multivariable systems. This paper aims to develop a novel approach for the formulation of this optim...
Article
In the optimal control design for vehicular propulsion systems, the objective function describing the design objectives (fuel economy, driveability, comfort, emissions, battery operation, battery aging, etc.) plays an important role in defining the optimal solution. However, the definition of the objective function is not often analyzed explicitly...
Article
In this paper, energetic loss models in the events of shifting gear and starting engine in a parallel Hybrid Electric Vehicle equipped with an Automated Manual Transmission (AMT) will be introduced. The optimal control algorithm for the start-stop, power split and gear shift problem based on Dynamic Programming-Pontryagin's Minimum Principle contro...
Article
Full-text available
An Internal Combustion Engine (ICE) under cold conditions experiences increased friction losses due to a high viscosity of the lubricant. With the additional control freedom present in hybrid electric vehicles, the losses during warmup can be minimized and fuel can be saved. In this paper, firstly, a control-oriented model of the ICE, describing th...
Article
In this paper, a switching Model Predictive Control strategy is designed for an automotive Waste Heat Recovery system with two parallel evaporators. The objective is to maximize Waste Heat Recovery system output power, while satisfying safe operation under highly dynamic disturbances from the engine. Safe system operation is associated with vapor s...
Article
Mechanical hybrid powertrains have the potential to improve the fuel economy of passenger vehicles at a relatively low cost, by adding a flywheel and only mechanical transmission components to a conventional powertrain. This paper presents a systematic approach to optimizing the topology and flywheel size, which are the key design parameters of a m...
Article
This paper presents the modeling and model validation for a modular two-phase heat exchanger that recovers energy in heavy-duty diesel engines. The model is developed for temperature and vapor quality prediction and for control design of the waste heat recovery system. In the studied waste heat recovery system, energy is recovered from both the exh...
Article
This paper introduces a three-dimensional volumetric representation for safe navigation. It is based on the OctoMap representation framework that probabilistically fuses sensor measurements to represent the occupancy probability of volumes. To achieve safe navigation in a domestic environment this representation is extended with a model of the occu...
Conference Paper
Full-text available
This paper discusses the integrated design problem related to determining the power specifications of the main subsystems (sizing) and the supervisory control (energy management). Different bi-level optimization methods, with the outer loop using algorithms as Genetic Algorithms, Sequential Quadratic Programming, Particle Swarm Optimization or Patt...
Article
In motion systems, high controller gains are beneficial in order to suppress disturbances acting on the system. Lowdamped non-rigid body (NRB) resonances usually limit this controller gain. The result is a bound on the maximum achievable sensitivity, i.e. the suppression of low frequent position disturbances. Robust Mass Dampers (RMD's) with a rela...
Article
Dynamic programming is a numerical method to solve a dynamic optimal control problem. Due to its numerical framework, it is very suitable to describe discrete dynamics, nonlinear characteristics, and nonconvex constraints. The implementation of continuous states in the discrete framework, however, may lead to optimization inaccuracies. This brief a...
Article
Remote maintenance will determine the available uptime of future fusion plants such as ITER. Experience at predecessor JET showed that a human-in-the-loop tele-operated approach is crucial, although this approach entails drawbacks such as the unavoidable extensive operator training and relatively long execution times. These drawbacks are common kno...
Article
To enable important scientific discoveries, ESO has defined a new ground-based telescope: the European Extremely Large Telescope (E-ELT). The baseline design features a telescope with a 39-metre-class primary mirror (M1), making it the largest and most powerful telescope in the world. The M1 consists of 798 hexagonal segments, each about 1.4 m wide...
Article
A new method to design notch filters for MIMO motion control systems with flexible mechanical structures is proposed. The method involves so-called directional notch filters that work only in the direction of the targeted resonant mode. As a result, only one SISO notch filter is required per mode to suppress a resonance throughout the MIMO system....
Article
In high tech motion systems, the finite stiffness of mechanical components often limits the bandwidth of the control system. This is usually counteracted by increasing the controller complexity, for instance by adding notch filters. The height of the resonance frequencies of the non-rigid body dynamics and the amount of damping significantly affect...
Article
Accurate frequency-domain system identification demands for reliable computational algorithms. The aim of this paper is to develop a new algorithm for parametric system identification with favorable convergence properties and optimal numerical conditioning. Recent results in frequency-domain instrumental variable identification are exploited, which...
Article
The ongoing need for miniaturization and an increase of throughput in IC-manufacturing is obstructed by performance limitations in motion control of nano-positioning wafer stages. These limitations are imposed by flexible dynamical behavior, associated with structural deformations of the nano-positioning stages. The aim of this research is to inves...
Article
Full-text available
The first article covers the steps that are necessary to convert a timecontinuous signal into a discrete spectrum. Potential errors due to aliasing and leakage will be explained and solutions will be presented. An overview of several types of test signals will be presented. The second article introduces the Frequency Response Function (FRF), explai...