Control and energy harvesting issues in structurally flexible mechanical systems

该建议涉及在结构柔性机械系统中合成用于运动控制和能量收集的新技术。以振动和/或偏转形式表现出来的结构柔性可能有意地纳入设计中，也可能是设计折衷的结果。由结构柔性元件组成的机电一体化系统具有广泛的应用，包括医疗设备、用于核聚变的轻型机器人、振动能量收集以及微机电系统中的传感器/致动器。随着所有上述系统不断成熟，需要更高的精度和更高的性能水平，开发用于振动控制和能量收集的新技术的挑战也在增长。为此，我们将探讨力控制的柔性梁与潜在的应用机器人辅助手术。 特别地，涉及操纵内窥镜装置（例如导管或活检针）的微创外科手术将需要使用先进的传感器、致动器以及可以处理弯曲效应的控制和信号处理算法。或者，将研究将不需要的机械振动能量高效地转换成电能。收集的能量可以为大型柔性结构（例如桥梁、建筑物、塔和风力涡轮机叶片）的健康和状态监测提供无线电力。此外，我们将研究自供电振动控制使用适当的电子和技术的功率感知嵌入式控制系统。

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.