Energy-efficient and high-precision control of hydraulic mobile manipulators
报告人：Jouni Mattila 教授
时 间：2019-09-25 09:30-11:30
地 点：玉泉校区液压老楼四楼会议室
欢迎各位老师和同学积极参加！
Abstract:
Autonomous vehicles and energy efficiency are mega-topics worldwide and mobile machinery manufacturers are currently involved in intense research and development for increased autonomy of inherently complex hybrid mobile manipulators. A mobile manipulator is a typical rough-terrain vehicle equipped with an on-board manipulator making it a hyper degree of freedom(DOF) machine. The hybrid solutions are attractive since energy consumption reduction can lead to a significant downsizing of the mobile manipulator diesel engine or battery size. Most of the hybrid development so far has focused on ad hoc engineering, and solid, systematic, framework-based, hybrid solution benchmarks are missing. My research goal has been to reduce the current knowledge gap by developing a science-based control framework that would provide a modular, cost-effective, and safe solution with guaranteed stability for energy-efficient hybrid hydraulic mobile manipulators. My main research hypothesis is that with such an incredibly complex hybrid mobile manipulator system, it is possible to design control components for modularity that would guarantee the stability, high performance, and energy efficiency of the whole machine.
Brief Bio:
Jouni Mattila(M14) received the M.sc. degree in 1995 and Dr Tech degree in 2000, both from TUT, Tampere, Finland. He was a Visiting Researcher at the University of British Columbia, Vancouver, BC, Canada, in years 1998-2000. As a Senior Systems Engineering Consultant, he has been involved in numerous industrial research projects, including the Sandvik Automine with Hermia Group Ltd, since 1996. He is currently a Professor in Machine Automation in the Laboratory of Automation and Hydraulics, TUT. Since the last 15 years, he has been a Program Manager on ITER fusion reactor maintenance projects involving research on heavy-duty hydraulic robotic manipulators. He has recently coordinated a Marie Curie Itn-project with 15 Ph.D. students across the EU to develop mobile service robotics for scientific infrastructures such as CERN. He has authored or co-authored more than 150 papers published in international journals and conference proceedings. His research interests include machine automation, nonlinear model-based control systems for robotic mobile manipulators and off-highway machinery, and energy-efficiency of fluid power and hybrid systems. He is currently a Technical Editor of the IEEE/ASME Transactions of Mechatronics.