ࡱ> QSPM bjbj== "4WWlXXXl4lDnPPPPPDDDDDDD$%F EHx,DX,DPPgAD:~PXPDD @"6XCPD @tl 9A"C,{D<DAH<HCll WORKSHOP AGENDA Nano Precision & High Performance Actuation Systems (Organizers: Saeid Habibi & Richard Burton, Univ. of Saskatchewan) August 3rd & 4th, 2005 Liuna Station, Hamilton, Ontario, Canada Wednesday August 3rd High Performance Hydrostatic Actuation 8:30-9:15 Continental Breakfast & Coffee/Tea Provided 9:15-9:30 Opening Remarks & Introductions (facilitated by Saeid Habibi) 9:30-10:30 Setting the Context: The ElectroHydraulic Actuator (Saeid Habibi) 10:30-10:45 Coffee Break 10:45 -11:45 Group Work: ISSUE 1 Application Domains & Determining Research Questions? 11:45-12:30 Groups Report Back: Application Domains & Research Questions 12:30-1:30 Lunch Provided 1:30-2:15 KEYNOTE Hydrostatic Actuation Systems & Components Professor Noah Manring, University of Missouri-Columbia 2:15-3:00 Group Work: ISSUE 2 Components and Functionality What new components are needed? What is working? What needs improvement? 3:00-3:15 Coffee Break 3:15-3:45 Groups Report Back: Determining Research Questions 3:45-4:00 Summary of Day Establishing the Foundation for Tomorrow Sponsored by National Sciences and Engineering Research Council of Canada Under the Strategic Research Opportunity Program WORKSHOP AGENDA Nano Precision & High Performance Actuation Systems (Organizers: Saeid Habibi & Richard Burton, Univ. of Saskatchewan) August 3rd & 4th, 2005 Liuna Station, Hamilton, Ontario, Canada Thursday August 4th Health Monitoring & Fault Detection 8:30-9:00 Continental Breakfast & Coffee/Tea Provided 9:00-9:15am Opening Remarks: Roadmap for the Day (Saeid Habibi) 9:15-10:00 KEYNOTE State & Parameter Estimation Professor Simon Haykin, McMaster University 10:00-10:15 Coffee Break 10:15-11:00 Setting the Context: Fault Detection & Health Monitoring (Richard Burton & Saeid Habibi) 11:00-11:45 Group Work: ISSUE 3 Research Questions Methods? What is working? What needs improvement? 11:45-12:15 Groups Report Back: Determining Research Questions 12:15-1:00 Lunch Provided 1:00-1:30 General Discussion & Where to From Here? Presenting Grant Submission Options 1:30- 2:00 Invitation to Further Discuss Funding Application Options: Defining Responsibilities (for those interested in collaborating in the research endeavour) 2:00 Conclusion of Workshop THANK YOU FOR YOUR PARTICIPATION! Sponsored by National Sciences and Engineering Research Council of Canada Under the Strategic Research Opportunity Program Abstract for Day 1 Wednesday August 3rd - High Performance Hydrostatic Actuation The prototype of a novel actuation system referred to as the ElectroHydraulic Actuator (EHA) has recently achieved an unprecedented level of performance by being able to move a large load of 20Kg with a precision of 50 nanometers and a stroke of 12cm. This level of performance places the hydrostatic actuation concept in competition with piezoelectric and other nano/micro-positioning platforms. The EHA opens a new industrial sector of micro and nano manipulation of heavy loads to the hydrostatic concept. It is particularly important, since: The EHA concept is modular and in terms of performance can now compete with geared electrical motors, yet provides three critical additional features that are: a torque to mass ratio that is 30 times better at the actuation point; an inherent capability for design redundancy due to the ease with which pressurized fluid can be channeled; and a unique capability for impedance control. It is the only actuation concept that has the COMBINED BENEFIT of: demonstrated sub-micron precision with a strong potential for sub-nanometer precision; large stroke limited only by design constraints; high acceleration; heavy load capability; ease of thermal management in high cycle-frequency operations; and compactness. The objective of the first day of the workshop is to consider pure an applied research as it relates to the EHA system and the hydrostatic actuation concept. The workshop provides for brainstorming sessions to consider: Merrits of the EHA concept and the design of innovative and integrated hydrostatic systems for specific applications and functionalities. Creation and production of new components that extend the boundaries of the application of the hydrostatic actuation concept. Abstract for Day 2 Thursday August 4th Health Monitoring & Fault Detection The hydrostatic actuation concept provides a unique capability for fault tolerance and fault recovery by the virtue of its modularity and the ease with which pressurized fluid can be channeled. Day 2 of the workshop will consider model-based health monitoring and its application for fault detection in hydrostatic actuation systems. A core concept for model-based health monitoring is parameter estimation and tracking. A review of parameter estimation methods will be presented. The Extended Kalman Filter (EKF) is an established concept that has been used for parameter tracking in the past three decades. The EKF and emerging methods such as the Unscented Kalman Filter and the Particle Filter will be discussed. A new concept for parameter and state estimation referred to as the Variable Structure Filter will be presented. This method allows for the tracking of physical parameters in uncertain systems with measurement signals that are noisy. The VSF concept is model based and differentiates itself from the most prevalent method in the field (the Extended Kalman Filter) by being able to explicitly account for uncertainties in the internal model of the filter and by providing a secondary indicator that quantifies the level of uncertainty, thus providing a basis for dynamically correcting the internal model. A detailed mathematical model of the EHA has been developed, linking the performance and the characteristics of this type of actuation system to the physical parameters of its components. System identification methods involving structural investigation using singular values and Hankel Matrix of Markov parameters have been used to determine the level of dynamic significance for the concept model. Experimental measurements from the EHA have been used to characterize the model parameters and physical effects in this system (e.g. leakage and friction). Physical parameters that could not be directly measured in real-time have been estimated by using the Extended Kalman Filter and verified by experimentation. These parameters have been linked to fault conditions. This linkage allows detection and diagnosis of fault conditions at their inception in hydrostatic systems. As such, health monitoring can therefore be achieved by tracking change in physical parameters through monitoring of dynamic performance during normal operations. Applications of health monitoring and fault diagnosis to hydrostatic Actuation systems will be considered. 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