2013 Nyquist Lecture
Reconfigurable Systems: The Role of Dynamics and Control
A. Galip Ulsoy
C.D. Mote, Jr. Distinguished University Professor of Mechanical Engineering
William Clay Ford Professor of Manufacturing
University of Michigan, Ann Arbor
Abstract
We live in an engineered world, where technologies rapidly become obsolete, and which can easily be disrupted by external events such as world markets, disasters or political strife. Engineers need to design systems that evolve in the face of such pressures, and technologies that can be reconfigured to the new circumstances. This talk introduces the principles behind reconfigurable manufacturing systems (RMS), which provide exactly the manufacturing functionality and capacity needed, exactly when needed. Examples are presented to highlight the role that dynamics and control plays in designing systems to be more reconfigurable. These examples include optimal capacity management in an RMS, dynamics of a reconfigurable machine tool, a smart boring bar that senses and corrects for boring bar vibrations, a networked control system to coordinate machine tool axis modules, a reconfigurable stamping control system, as well as methods for co-design of an artifact and its controller and for component swapping modularity in controller design. The talk concludes with some speculations on the future of reconfigurable systems.
Biography
A. Galip Ulsoy is the C.D. Mote, Jr. Distinguished University Professor of Mechanical Engineering and the William Clay Ford Professor of Manufacturing at University of Michigan, Ann Arbor. He received the Ph.D. from University of California at Berkeley (1979), the M.S. degree from Cornell University (1975), and the B.S. degree from Swarthmore College (1973). His research interests are in the dynamics and control of mechanical systems. He has received numerous awards, including the American Automatic Control Council’s 1993 O. Hugo Schuck Best Paper Award, the 2003 Rudolf Kalman Best Paper Award from the J. Dynamic Systems, Measurement and Control, the 2008 Albert M. Sargent Progress Award from the Society of Manufacturing Engineers (SME), the 2008 Rufus T. Oldenburger Medal and the 2013 Charles Russ Richards Award from the American Society of Mechanical Engineers (ASME). He is a member of the US National Academy of Engineering, received the 2012 Presidential Special Award from the Scientific and Technological Research Council of Turkey, and is a Fellow of ASME, SME and the International Federation of Automatic Control (IFAC).
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Emerging Nexus of Cyber, Modeling, and Estimation in Advanced Manufacturing
Joseph J. Beaman, Jr.
Professor Department of Mechanical Engineering
Earnest F. Gloyna Regents Chair in Engineering
The University of Texas at Austin
There have been tremendous advances in three imortant technical areas in the last decade: computing capability, physics-based modeling, and estimation methods. Although these advances are well known in the research community, they have not been deployed to any great extent in the manufacturing industry. It is become increasingly clear that manufacturing is of fundamental importance to the vitality of the US economy. Small lot or small volume manufacturing, which are often high value products, offers a unique opportunity to open up fundamentally new business for manufacturers. One of the major challenges to successful small lot manufacturing is the cost of qualifying and certifying that the product meets its design specifications. This is substantially the function of manufacturing process control. Contemporary process control is statistic-based and is most effective for large volume manufacturing. Such process control is not effective if the conditions or the product changes, such as occurs in small lots.
This talk will describe opportunities for exploiting these three technical areas for advanced manufacturing in small lots. Potential application in an emerging manufacturing process, Additive Manufacturing, and a potential application in a mature manufacturing process, Vacuum Arc Remelting, will be highlighted. In particular, a process for Cyber Enabled Manufacturing (CeMs) process control for small lot manufacturing that incorporates a model of the process directly into the control algorithm. Such a model can be used to accommodate changes in the physical product and the manufacturing process and thus the manufacturing monitoring and control algorithm, so that changing conditions are easily accommodated without extensive additional experiments. A set of objectives of this physics and cyber-enabled manufacturing process control system are rational setting of manufacturing tolerances, real time prediction of manufacturing defects, real time control of process to eliminate defects, and real time monitoring and control for small lot manufacturing. The methodologies to achieve these goals are high fidelity, physics based models including models of faults/defects, uncertainty quantification, reduced order models that run in real time, measurement, real time prediction, real time computer architecture, real time control with inverse solutions, and automating the CeMs process for generic manufacturing processes. The development of such accurate control algorithms and their application to manufacturing processes can provide a competitive edge.
Biography
Professor Joseph J. Beaman’s career work has been in design, manufacturing and control. His specific manufacturing research interest is in Solid Freeform Fabrication, a manufacturing technology that produces freeform solid objects directly from a computer model of the object without part-specific tooling or knowledge. Dr. Beaman coined this term in 1987. Professor Beaman initiated research in the area in 1985 and was the first academic researcher in the field. One of the most successful Solid Freeform Fabrication approaches, Selective Laser Sintering, was a process that was developed in his laboratory. In particular, he has worked with graduate students, faculty, and industrial concerns on the fundamental technology that span materials, laser scanning techniques, thermal control, mold making techniques, direct metal fabrication, and biomedical applications. Besides his work in Solid Freeform Fabrication, Professor Beaman has worked extensively with the special metals processing industry to develop next generation process control for remelting processes that are used to produce special metals alloys such as super alloys and titanium alloys. Professor Beaman has pioneered the use of high fidelity physics-based models in real-time manufacturing process control in order to estimate and control important outputs in these remelting processes. In many cases, it would not have been possible to estimate and control these outputs without detailed models of the processes. Dr. Beaman has BS and MS degrees from UT Austin, and PhD from MIT. He is a Fellow of the American Society of Mechanical Engineers. He serves on the Army Science Board and Board of Directors of Society of Manufacturing Engineers and was Chair of the Department of Mechanical Engineering at the University of Texas from 2001 to 2012. He was elected to the National Academy of Engineers in February 2013.
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Robots and the Human
Oussama Khatib
Artificial Intelligence Laboratory
Department of Computer Science
Stanford University
Abstract
Robotics is rapidly expanding into the human environment and vigorously engaged in its new emerging challenges. From a largely dominant industrial focus, robotics has undergone, by the turn of the new millennium, a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies to address the pressing needs for human-centered robotic applications. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives, in homes, workplaces, and communities, providing support in services, health care, entertainment, education, and assistance. The discussion focuses on new design concepts, novel sensing modalities, efficient planning and control strategies, modeling and understanding of human motion and skills, which are among the key requirements for safe, dependable, and competent robots. The exploration of the human-robot connection is proving extremely valuable in providing new avenues for the study of human motion — with exciting prospects for novel clinical therapies, athletic training, character animation, and human performance improvement.
Biography
Oussama Khatib received his Doctorate degree from Sup’Aero, Toulouse, France, in 1980. He is Professor of Computer Science at Stanford University. He is the President of the International Foundation of Robotics Research, IFRR. Professor Khatib is the Co-Editor of Springer Handbook of Robotics and the Springer Tracts in Advanced Robotics series. He is a Fellow of IEEE and has served as a Distinguished Lecturer, as the Program Chair of ICRA 2000, and the General Chair of IROS 2011. He is a recipient of the Japan Robot Association (JARA) Award in Research and Development, the IEEE RAS Pioneer Award in Robotics and Automation for his fundamental pioneering contributions in robotics research, visionary leadership, and life-long commitment to the field. He has also received the IEEE RAS Distinguished Service Award in recognition of his vision and leadership for the Robotics and Automation Society, in establishing and sustaining conferences in robotics and related areas, publishing influential monographs and handbooks and training and mentoring the next generation of leaders in robotics education and research.
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Oldenburger Lecture
Beyond Servo Mechanisms:
Challenges and Opportunities in Control Science
Graham C. Goodwin
BSc, BE, PhD, FRS, FIEEE, Hon.FIE.Aust., FTSE, FAA
Abstract
In common with many control engineers, my early career focused on traditional applications of control in industry including rolling mills, robotic systems, continuous casting machines and sugar mills. In recent years, I have turned to new areas of application including
- Improving the uplink data rate in 3G and 4G mobile telecommunication systems,
- Scheduling ambulances to improve the efficiency of emergency services, and
- Developing an artificial pancreas
Many of the well tried ideas in control are immediately applicable to these problems. However, new challenges and opportunities also arise. In this talk I will give an introduction to some of these new issues and argue that systems and control science will continue to be a vibrant and exciting field for many years to come.
Biography
Graham Goodwin graduated from the University of New South Wales with B.Sc. (Physics) 1965, B.E. Honours I (Electrical Engineering) 1967 and Ph.D. 1971. In 2010 he was awarded the IEEE Control Systems Field Award. Other international awards include the 1999 IEEE Control Systems Society Hendrik Bode Lecture Prize, a Best Paper award by IEEE Transactions on Automatic Control, a Best Paper award by Asian Journal of Control, and two Best Engineering Text Book awards from the International Federation of Automatic Control in (1984 and 2005). He received the 2008 Quazza Medal from the International Federation of Automatic Control, the 2010 Nordic Process Control Award, and the 2011 Asian Control Association Wook Hyun Kwon Education Award. He is a Fellow of IEEE; an Honorary Fellow of Institute of Engineers, Australia; a Fellow of the International Federation of Automatic Control, a Fellow of the Australian Academy of Science; a Fellow of the Australian Academy of Technology, Science and Engineering; a Member of the International Statistical Institute; a Fellow of the Royal Society, London and a Foreign Member of the Royal Swedish Academy of Sciences. He holds Honorary Doctorates from Lund Institute of Technology, Sweden and the Technion Israel. He is the co-author of nine books, four edited books, 218 international journal papers and 322 refereed international conference papers. He has successfully supervised 38 Ph.D. students. These hold senior positions in major international universities and industry. He has presented 60 Keynote Addresses at major international conferences. Graham is a Distinguished Professor at Harbin Institute of Technology (China), Northwestern University (China), Zhengzhou University (China) and Universidad Técnica Federico Santa María (Chile). He holds several research grants covering diverse areas including Power Electronics, 3G and 4G Mobile Communications, Ambulance Scheduling, and Artificial Pancreas development. He holds 16 International Patents covering rolling mill technology, telecommunications, mine planning and mineral exploration.