Control and energy harvesting issues in structurally flexible mechanical systems

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This proposal is concerned with synthesizing novel techniques for motion control and energy harvesting in structurally flexible mechanical systems. Structural flexibility exhibited in the form of vibrations and/or deflections, may be intentionally incorporated into the design or be as a result of design compromises. Mechatronic systems consisting of structurally flexible elements have a wide range of applications including medical devices, lightweight robots used in nuclear fusion, vibration energy harvesting, and sensors/actuators in micro-electromechanical systems. As all the above systems continue to mature, requiring higher precision and greater performance levels, the challenge for developing novel techniques for vibration control and energy harvesting grow. To this end, we will investigate force control of flexible beams with potential applications to robot-assisted surgery. In particular, minimally invasive surgical procedures involving manipulation of an endoscopic device such as a catheter, or a biopsy needle, would require use of advanced sensors, actuators, and control and signal processing algorithms that can handle flexural effects. Alternatively, high-efficiency conversion of unwanted mechanical vibration energy into electric energy will be investigated. The harvested energy can provide wireless power for health and status monitoring of large flexible structures such as bridges, buildings, towers, and wind turbine blades. Furthermore, we will investigate self-powered vibration control using proper electronics and techniques for power-aware embedded control systems.