Tutorial: Advanced control and noise reduction for micromanipulation


NEWS:

Some presentations and the labs documents (all the poly and some Matlab Code files) are available here:






The tutorial

This workshop, entitled 'Advanced control and noise reduction for micromanipulation', is a full-day tutorial.

date: monday July 7, 2014
Room: --
Place: Salle Granvelle of the Mercure hotel (morning), UFC (afternoon)

Abstract

This tutorial aims to provide courses, lectures and practical exercises on advanced control and noise reduction for micromanipulation. The performance of microbotic tasks in such application requires the achievement of highly severe performances of positioning like very high accuracy, low noise, large bandwidth, ... The proposed tutorial includes modeling, control and signal measurement/estimation in microrobots, end-effectors, actuated micromanipulators and microgrippers used in micromanipulation but also in other applications. In order to success the tasks, these modeling, control and measurement/estimation should consider the nonlinearities, the noise, the vibrations, the uncertainties and the disturbances that typify the actuators, the working environment and the micro-nano-scales in general. Additionally to these characteristics, the lack of convenient sensors at these scales put additional challenges to the signals estimation and to the controllers design for the systems.

The tutorial provides an introduction to the advanced and recent techniques devoted to control the systems for micromanipulation tasks. Both theoretical and practical aspects are proposed. For this aim, the tutorial is a full day with the first part devoted to the theory (lectures) and the second part devoted to demonstrations and labs.

Topics

The presenters of this titorial will provide self-contained notes on recent works concerning the topics they present. The first part of the tutorial which will be held in the morning is a set of courses/lectures:

- modeling and robust control and gain-scheduled control of microgrippers,
- modeling and robust control of microactuators via interval tools,
- noises characterization and control at the micro-scale,
- feedforward control of multivariable hysteresis and creep in piezoelectric microsystems,
- self-sensing measurement techniques and advanced observers in piezoelectric microsystems.

The second part of the tutorial is devoted to labs and demonstrations and will be held in the afternoon:

- labs on robust control and noises reduction in microsystems,
- labs on interval control of microactuators,
- labs on feedforward control of hysteresis in piezoelectric microactuators,
- labs on self-sensing and related observers in piezoelectric microsystems.

To attend the tutorial

To attend the tutorial, the person must do a registration. More details on the registration fee can be found here: more informations on registration.

A registration fee permits to the attendant to assist any of the tutorials and workshops proposed by AIM. The list of all tutorials and workshops are given here: list of Tutorials/Workshops.

The organizers


Yassine HADDAB,
Associate Professor, ENSMM engineering school

AS2M department,
FEMTO-st Institute,
UMR CNRS 6174 - UFC / ENSMM / UTBM
24, rue Alain Savary
25000 Besançon - FRANCE

Phone: +33 381 402 808
Fax: +33 381 402 809

Email: yassine.haddab 'at' femto-st 'dot' fr
Homepage: http://members.femto-st.fr/yassine-haddab/
Homepage: Google Scholar

Micky RAKOTONDRABE,
Associate Professor, University of Franche-Comté at Besançon (UFC)

Automatic Control and Micro-Mechatronic Systems Department (AS2M),
FEMTO-st Institute,

Ongoing position:
Full Professor, ENIT (National School of Engineering in Tarbes)
Toulouse INP

Address:
DIDS team (Decision and Interoperability for Dynamic Systems)
LGP (Laboratoire Génie de Production)
ENIT (National School of Engineering in Tarbes)
Toulouse INP
47, Avenue d'Azereix
65000 Tarbes - FRANCE

Email: mrakoton 'at' enit 'dot' fr
Homepage: m.rakoton.net

Philippe LUTZ,
Full Professor, University of Franche-Comté at Besançon (UFC)

Automatic Control and Micro-Mechatronic Systems Department (AS2M),
FEMTO-st Institute,
UMR CNRS 6174 - UFC / ENSMM / UTBM
24, rue Alain Savary
25000 Besançon - FRANCE

Phone: +33 381 402 785
Fax: +33 381 402 809

Email: plutz 'at' femto-st 'dot' fr
Homepage: here

The speakers (ordered by schedule)

Lectures in the morning:

- Yann LE GORREC,
- Philippe LUTZ,
- Mokrane BOUDAOUD,
- Yassine HADDAB,
- and Micky RAKOTONDRABE,

Labs in the afternoon:

- Didace HABINEZA,
- Mokrane BOUDAOUD,
- Philippe LUTZ,
- and Micky RAKOTONDRABE,

Downloadable announcement

The presentation of the tutorial in PDF format is downloadable here:


               

               


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