Development of high performance control methods in robotics and aerospace systems

我的NSERC支持的研究计划包括控制系统，机器人和飞机系统领域的专业知识。该提案涉及围绕两个关键主题的项目。主题一是模块化和可重构机器人的发展，具有增强的能力，携带沉重的有效载荷和执行微妙的操作。创新的控制系统和平衡技术将被开发，以实现研究目标。模块化和可重构机器人由模块组成，这些模块可以重新排列以产生各种配置，并具有理想的属性，如适应性，紧凑性和多功能性。它们具有巨大的应用潜力，特别是在空间系统部门，但其有效载荷与机身重量之比相对较低，限制了这些潜力的实现，拟议的研究旨在解决这一问题。主题二是高性能航空发动机引气控制系统的研制。在飞机气动系统中，高压和高温空气从发动机流血的，然后用于飞机上的各种任务，例如客舱增压和乘客和机载航空电子设备的空调。为了降低与发动机检修和燃料消耗相关的操作成本，期望控制和均衡来自多个发动机的发动机引气，并且以最小的冲压空气使用量将热的发动机引气冷却到调节的温度。该系统是安全关键的，并且要求高可靠性。该研究旨在开发发动机引气流量共享控制系统的容错控制方法和同时进行引气质量流量和温度控制的燃油效率控制方法。拟议的研究计划有可能提供独特的设计和控制机器人和飞机发动机引气系统的方法，从而产生高质量的研究成果，并为加拿大工业直接面临的问题提供解决方案。此外，它将大大有助于在机器人、飞机系统和控制系统开发领域培养高素质人才。

My NSERC-supported research program comprises expertise in the areas of control systems, robotics and aircraft systems. This proposal involves projects centred on two key themes. Theme one is development of modular and reconfigurable robots with enhanced capabilities for carrying heavy payload and performing delicate operations. Innovative control system and balancing techniques will be developed to achieve the research objectives. Modular and reconfigurable robots are made up of modules that can be rearranged to yield various configurations and possess desirable attributes such as adaptability, compactness, and versatility. They have substantial application potentials, especially in the space systems sector, but their relatively low payload to body weight ratio limits the realization of those potentials, and the proposed research aims to provide a solution to this problem. Theme two is the development of high performance aircraft engine bleed air control system. In aircraft pneumatic systems, high-pressure and high-temperature air is bled from engines and then used for various tasks on the aircraft, such as cabin pressurization and air conditioning for passengers and airborne avionics equipment. In order to reduce operation costs associated with engine overhaul and fuel consumption, it is desirable to control and equalize engine bleed from multiple engines, and to cool hot engine bleed air down to a regulated temperature with minimum usage of ram air. The system is safety critical and requires high reliability. The proposed research aims to develop fault tolerant control methods for engine bleed flow sharing control system and fuel-efficient control methods for simultaneous bleed mass flow rate and temperature control. The proposed research program has the potential to provide unique ways of design and control of robots and aircraft engine bleed air systems, leading to high quality research contributions and providing solutions to problems directly faced by Canadian industry. Furthermore, it would contribute significantly to the training of highly qualified personnel in the areas of robotics, aircraft systems, and control systems development.