Program overview. 22-Jun :59. Year 2013/2014 Mechanical, Maritime and Materials Engineering Master Mechanical Engineering

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Program overview

22-Jun-2016 20:59

Year

2013/2014

Organization

Mechanical, Maritime and Materials Engineering

Education

Master Mechanical Engineering

Code

Omschrijving

ECTS

p1 p2 p3 p4 p5

Recommended Elective Courses ME-BMD-BITE

AP3461 The Origins of Life 6

AP3691 D Evolution and Engineering of Living Systems 6 BM1210 Medical Instruments A: Clinical Challenges and Engineering Solutions 3 BM1240 Human Movement Control A: Musculoskeletal Mechanics 3 BM1250 Human Movement Control B Neuromuscular Control 3 CIE5251-09 Structural Design, Special Structures 5

LM3512TU Systems Biology 3

ME1100 Automated Driving, Automotive Human Factors and Safety 3

ME1110 Medical Device Prototyping 6

ME1115 Applied Experimental Methods: Human Factors 4

ME1120 Space Robotics 4

ME1160 Compliant Mechanisms 4

SC4060 Predictive and adaptive control 4

SC4091 Optimization in Systems and Control 4

SC4110 System Identification 5

SC4120 Special Topics in Signals, Systems & Control 3

WB1310 Multibody Dynamics A 3

WB1406-07 Experimental Dynamics 3

WB1413-04 Multibody Dynamics B 4

WB1416-11 Numerical Methods for Dynamics 4

WB1418-07 Engineering Dynamics 4

WB1429-03 Microfluidics 3

WB1440 Eng. Optimization: Concept & Applications 3 WB2301-5 System Identification and Parameter Estimation 7

WB2305 Digital Control 3

WB2414-09 Mechatronic System Design 4

WB2427 Predictive Modelling 3

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1.

Year

2013/2014

Organization

Mechanical, Maritime and Materials Engineering

Education

Master Mechanical Engineering

Recommended Elective Courses ME-BMD-BITE

Program Coordinator Dr. D. Dodou

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AP3461

The Origins of Life

6

Responsible Instructor Dr. C.J.A. Danelon

Contact Hours / Week x/x/x/x 0/0/2/2 Education Period 3 4 Start Education 3 Exam Period 4

Course Language English

Expected prior knowledge Students should have followed a course in chemistry, biochemistry or biophysics.

Course Contents Part 1: Introduction

- Historical survey and the many definitions of Life - Conceptual framework of research on the origin of Life - Main scenarios

- Basics on the structure and organization of cells Part2: From prebiotic chemistry to self-replication - Early Earth, geochemistry

- Prebiotic synthesis of ribonucleotides and amino acids - Self-organization

- Autocatalysis and self-replication

- Assembly of (bio)chemical reaction networks Part3: Protocells and semi-synthetic minimal cells - Chemistry and physics of primitive membranes - Models of protocells (autopoiesis, chemoton) - Assembly of artificial minimal cells - Emergence and biological complexity

- Social and ethical issues of proto- and artificial cells

Study Goals To have knowledge about prebiotic processes, self-organization, autocatalysis, compartmentalization, as well as their mutual interactions and possible implications in the transition to life.

To be able to formulate the pros and cons of the different existing scenarios for the emergence of complex biomolecules and protocells.

To understand international research literature related to the theory covered.

To be able to write a summary of the studied article(s) as well as a critical discussion and possible follow-up research. To present a research paper from the recent literature in a clear and interesting manner, meeting the requirements of scientific communication.

To answer questions and provide detailed argumentation about the article(s) presented as indicated above.

Education Method Period 3: Lectures.

Period 4: Article discussion/presentation, small report writing, practical course on liposome preparation and characterization (depending on the number of participants).

Literature and Study Materials

Recommended textbook: "The Emergence of Life: From Chemical Origins to Synthetic Biology" by Pier Luigi Luisi, 2006, Cambridge University Press.

Assessment final written exam (60%, end of the period 4) and oral presentation + written report (40%).

Remarks - The duration of Part 2 and the number of students per group for the seminars will be adapted to the total number of students inscribed.

- A tutorial of about 30 min will be organized between the students and instructors to discuss the articles and define the most important points that should be covered. When a topic covers several seminars the students should collaborate to present a coherent series of seminars, where each seminar is a logic continuation of the preceding one.

- Each student should deliver a couple of days in advance a report containing a summary of the outline of the seminar and additional information on the subject that were not covered in the presentation.

- Each seminar will be followed by a discussion and complementary information will be provided by the instructors. To encourage active discussion during the seminar session we highly recommend each student to read the reports beforehand. - The written examination will be based on the content of both the lecture and seminar sessions.

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AP3691 D

Evolution and Engineering of Living Systems

6

Responsible Instructor Dr. A.S. Meyer

Responsible Instructor Dr. H.J.E. Beaumont Contact Hours / Week

x/x/x/x 0/0/2/2 Education Period 3 4 Start Education 3 Exam Period 4 5

Expected prior knowledge This course is intended for students from physics, engineering, and life science programs. No prior knowledge of mathematics or biology will be required.

Course Contents Even the simplest organism is more complex than the most sophisticated man-made device. How did biological evolution build such intricate machines, and could we do this ourselves? In this course, we will explore the mechanisms behind evolution, and examine how the same principles can be used to engineer the properties of organisms. Through lectures and interactive discussion of recent research articles, we will develop an integrated view of biological evolution and the state-of-the-art of bio-engineering. We will consider relevant processes and applications at all levels of biological organizationfrom DNA to ecosystems.

The lectures will start with an overview of basic biology: the organizing principles underlying the structure and function of organisms. Next, we will explore the mechanisms that make evolution by random mutation and natural selection possible, and examine how we can use these to engineer the properties of organisms by modifying their molecular building blocks. The final lectures will study basic tools and advanced synthetic-biology approaches that can be used to engineer biological solutions for real-world problems. A background in biology, physics, or a related field will be appropriate preparation for participating students.

Throughout the course you will get the opportunity to study, present, and discuss recent articles from the scientific literature on cutting-edge discoveries and techniques, as well as develop a brief proposal describing a synthetic biology project. Specific topics include: real-time experimental evolution, modularity, evolvability, the evolution of complexity, the biological genotype-phenotype map, the modern genetic toolbox, control theory and logic gates, design properties and construction principles of synthetic biology circuits and networks, and the debugging and optimization of engineered networks.

Study Goals By the end of the course, students will be able to:

-Summarize how living systems work in terms of structural and functional concepts at multiple levels of biological organization. -Analyze the process of biological evolution in terms of the Modern Darwinian Synthesis and recent mechanistic extensions of this theory.

-Identify why living systems are evolvable and how this property makes them engineerable. -Formulate novel experimental approaches to study evolution in real time.

-Apply design principles to create new biological functions.

-Improve and debug the results of genetic engineering by utilizing specific genetic and evolutionary principles. -Critically evaluate literature papers in the fields of evolution and genetic engineering.

-Assess the social and safety implications of genetic engineering and directed evolution projects. -Engage in constructive scientific discussions

Education Method The course will be conducted using a combination of styles to promote student involvement and interaction with the material. Lectures describing and explaining the topics of study will be supplemented with readings from textbook chapters and ground-breaking journal articles. Students will present and lead discussions about research articles.

Assessment Final grades will be based on weighted average grades for the following course components: (i) Oral presentation of one journal article

(ii) Participation in class discussions

(iii) Short proposal for a synthetic biology project (iv) Final concept-based written examination.

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BM1210

Medical Instruments A: Clinical Challenges and Engineering

Solutions

3

Responsible Instructor Dr. D. Dodou

Contact Hours / Week x/x/x/x

4/0/0/0

Education Period 1

Start Education 1

Exam Period Exam by appointment

Course Contents Introduction to surgery, dissect and connect tissue Surgical instruments and their specific requirements Quality of surgical tools, quality control, sterilization

Advantages and disadvantages of minimally invasive surgery (keyhole operations) Possibilities and problems of using robotic systems during surgery

Task analysis of the surgical process Training of surgeons

Electrical safety

Operation rooms, equipment Safety issues in the operation room New materials and devices

Study Goals The student will be able to describe the design, function, and problems of (minimally invasive) surgical instruments. More specifically, the student will be able to:

1. formulate the special requirements for surgical instruments

2. illustrate advantages and disadvantage of minimally invasive surgery (keyhole surgery) and to sum up the limitations for the surgeon when applying this method

3. sum up instruments used during minimally invasive surgery

4. reproduce the problems with the use of electrosurgery / coagulation instruments

5. formulate criteria that surgical instruments have to fulfill in order to prevent sterilization problems 6. describe task analyses methods and how to evaluate the surgical process

7. indicate the problems with quality control of surgical instruments

8. tell the fields where robotics are used in surgery and indicate the possibilities and limitations of the use of robotics 9. classify current technology developed to train surgeons outside the operating theater

10. reproduce design considerations of the operating room

11. select information from literature related to a certain issue and evaluate new developments 12. discuss safety issues in surgery

Education Method 4 hours per week

Literature and Study Materials

Information will be provided via blackboard

Assessment Oral exam

Percentage of Design 30%

Design Content Design of instruments for surgery, minimally invasive interventions, and training facilities

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BM1240

Human Movement Control A: Musculoskeletal Mechanics

3

Responsible Instructor Dr.ir. E. de Vlugt

Contact Hours / Week x/x/x/x 0/0/4/0 Education Period 3 Start Education 3 Exam Period 3 4

Course Contents The skeletal system of living species provides the shape of the body and enables the transfer of forces required for body movement. The muscles produce the forces to accelerate the body and also substantially contribute to the visco-elasticity of the joints that is needed for stabilization of the skeletal system.

Central in this course are the kinematics of the human skeleton system and the mechanical properties of the human skeletal muscles. The content of the course is strongly based on running research within the Delft Neuromuscular Control Laboratory (NMC-Lab), with a focus on both fundamental aspects (physiology) and clinical applications (patho-physiology). Throughout the course, knowledge about the physiological aspects will be formalized (modeling) and analyzed using model simulations with Matlab/Simulink. Simulations are very useful when the scale of the system becomes larger, i.e. when the degrees of freedom (number of joints and muscles) increase such as in the human shoulder girdle.

Study Goals After this course the student is able to:

* Describe the movement of bony segments of the human skeleton system with respect to each other using kinematic analysis methods.

* To perform an analysis of the segment movement from recorded motion data (optical, camera).

* To understand the structure of the motion equations including the visco-elasticity as provided by the muscles.

* To simulate movements using musculo-skeleton models, both single joint and multi-joint (large scale) models such as the Delft -Shoulder-Elbow Model (DSEM).

* To understand the benefits and drawbacks of backward and forward simulations.

* To calculate muscle forces from known joint positions (backward simulation) using different optimization techniques. * To know the mechanical properties that are unique to skeletal muscles: force generation and impedance regulation. * To understand the effect of non-linearities of the musculo-skeletal system on overall system behavior.

* To derive the mechanical impedance on the joint level from visco-elasticity of the muscles. * To understand the role of joint visco-elasticity in the control of posture and movement.

* Understand the effect of different neuro-muscular disorders on functioning of joint in diseases such as stroke and Cerebral Palsy.

Education Method * Lectures, 2 hours per week.

* Excursion to dissection room Amsterdam (cadaver study) * Lecture material (slides), Matlab/Simulink programs for simulation

* Guest speakers. Experts from the fields of Human Movement Science, Muscle Physiology and the Medical Field.

Assessment * Assignments

* Final Examination (written)

Department 3mE Department Biomechanical Engineering

BM1250

Human Movement Control B Neuromuscular Control

3

Responsible Instructor Dr.ir. A.C. Schouten Contact Hours / Week

x/x/x/x 0/0/0/4 Education Period 4 Start Education 4 Exam Period 4 5

Course Contents The flexibility of humans in generating movement is enormous. With little attention most people can perform complex tasks such as walking or riding a bicycle. However, a coordinated interaction between separate limbs is required while feedback from the different senses is continuously integrated to cope with unexpected disturbances, such as minor imperfections in the road. Neuromuscular control investigates how the central nervous system (CNS) is able to generate movements, stabilize posture, and integrate sensory feedback in the control actions. During this course the role of subsystems (e.g. muscles, sensory systems, CNS) and their interactions as well as uncertainty in sensory signals are discussed with a focus on reaching movements and posture maintenance. During the course it will be shown how this knowledge can help in understanding impaired motor function after neurological disorders, like Stroke and Parkinsons disease.

Study Goals After this course the student must be able to:

- Describe the anatomy and physiology of the sensory systems in neuromuscular control

- Describe the structure and functioning of the central nervous system with respect to motor control

- Explain the neuromuscular system from a control engineering perspective, including the interaction between intrinsic and reflexive feedback

- Apply control engineering techniques to assess the dynamics and (in)stability of the neuromuscular system, including the effect of time-delay in the neural feedback pathways

- Apply models to solve neuromuscular questions related to the control of upper and lower extremities, the neck, the eye, etc - Describe how the central nervous system deals with uncertainty, integrates sensory feedback and adapt to new situations - Describe the different stages involved in planning and performing a reaching movement in healthy subjects

- Is able to deduce how impairments of different processes involved in motor control due neuromuscular disorders affect motor control and adaptation

- Is able to critically judge the value of theories about postural and movement control posed in scientific literature

Education Method Lectures (4 hours per week) and homework assignments (two)

Assessment Written exam and assignments

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CIE5251-09

Structural Design, Special Structures

5

Responsible Instructor Ir. S. Pasterkamp

Instructor Dr.ir. P.C.J. Hoogenboom Instructor Dr.ir. J.L. Coenders Instructor Ir. A. Borgart Contact Hours / Week

Required for Structural Design Master specialisation

Course Contents Introduction course in the field of special structures, their architecture, structural behaviour, design process, special design knowledge, and special techniques, combined with practical use of design- and analysis tools for structural engineering. Theory of Shells.

Study Goals Introduction into special structures: their mechanical behaviour, structural analysis, design process, special design techniques and practical use of tools for analyses and design.

Education Method Lectures by various lecturers from different faculties: civil engineering and architecture and engineering firms. Practice workshops for hand-on experience.

Exercise in the design of a free form structure

Computer Use GSA, Easy, AutoCAD, Blender, Sketch-up, Excel

Literature and Study Materials

Drawing and design materials, course study-guide, course reader, design assignment handout. Recommended materials: see course guide and reader

Schodek, Structures, physical modeling materials.

Assessment Presentation Design & report: of the process and the results of the workshops in a set format. Written examination: of knowledge from the reader and the lecturers.

Enrolment / Application Blackboard

Remarks Since several years non-standard or blob-architecture has emerged in architectural practice. These free form structures emphasize the structural engineers problem of dealing with non-orthogonal geometry.

However, in ancient times Roman building masters already knew how to build vaults. And in the 70s the group of Frei Otto and the ILEK experimented much with architecture derived from nature, which was quite free-form, all without or with little computational tools.

This course is an introduction on historic and modern types of special structures: Structures in nature, biomimetics

Shells and vaults

Membrane and pneumatic structures Cable-nets, tensegrity

Space frames

Grid structures and domes Adaptive and deployable structures

However, these structures and their design are not common practice. The students will be introduced to several techniques and methods of understanding and designing such structures.

Following aspects will be lectured: Historic overview

Mechanical behaviour of shells Structural analysis

Physical modeling

Generative modeling, form finding and optimisation Recent advances in computation & structural design Structural morphology

Design of membrane structures

Several of these structures can be found around the world, sometimes famous ones such as the Opera House in Sydney. In the coming decade more of these structures will be realized. Form finding and computation will be some of the key-aspects of design. This course therefore will give an introduction to practical use of simple computational tools to make a very powerful description of a structure for analyses and design.

Contact Ir. S. Pasterkamp: [email protected]

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LM3512TU

Systems Biology

3

Responsible Instructor S.A. Wahl

Contact Hours / Week x/x/x/x

0/0/32/0; every two years

Exam Period none

Course Contents Systems biology is an integrated approach of experimental and mathematical methods that aims a comprehensive understanding of how biological functions arise and how they are regulated. Transcription, signaling and metabolism in living cells influence each other by various regulatory mechanisms. For the unraveling of the regulation of cellular metabolism different platforms have been developed, named omics technologies e.g. metabolomics, transcriptomics, genomics and proteomics. To aid the interpretation of the obtained omics data, numerous mathematical modelling approaches have been developed. The course introduces the measurement technologies and mathematical approaches for the purpose of:

- Quantification of metabolic fluxes,

- Identification of enzyme kinetic properties under in-vivo conditions, - Design of organisms with enhanced properties.

The course presents:

- Techniques to quantify intracellular fluxes, e.g:

- Metabolic flux analysis (MFA) and 13C labelling techniques, - Flux balance analysis for genome scale models

- Calculation of elementary flux modes

- An overview of experimental perturbation techniques and their information content - Techniques for global and targeted metabolome measurements

- Heatmaps for the interpretation of omics-data.

- Measurement techniques and data interpretation for protein and transcript levels - Thermodynamic aspects of metabolism and gene regulation

- Principles/ Modelling of signal transduction

- System wide modelling techniques (Elementary mode analysis, linear programming, MCA) - Parameter identification with their problems and solutions

Study Goals After this course the students should be able to:

- Translate the relevant properties of a biological system into a proper mathematical model and set up a simulation - Parameterize this model by choosing proper experimental design, measurement techniques and mathematical procedures - Apply the obtained model for (re)design of biological systems with the aim to alter and/or improve their properties (e.g. product formation)

- Use mathematical models to create hypotheses on unknown molecular interactions (gene annotation, metabolite protein/ enzyme interactions, protein/ protein and protein DNA interactions

- Reconstruct models published in system biology journals and apply these to modified conditions.

Education Method Lectures and computer exercises

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ME1100

Automated Driving, Automotive Human Factors and Safety

3

Responsible Instructor Dr.ir. R. Happee

Required for Specialisation Automotive in the tracks ME-CE, ME-PME, ME-BMD

Expected prior knowledge WB3404A Vehicle Dynamics A can be followed in parallel (recommended, not essential).

Summary Automotive Safety technologies are covered with a focus on human factors, injury biomechanics, vehicle technology, test procedures, sensing and control.

Course Contents 1. Road safety - Problem & Countermeasures Introduction of the course

The road safety problem:

-Safety in different transport modes (car occupants, pedestrians, cyclists, motorcyclists and others).

-Breakdown of costs into life years lost, medical and rehabilitation costs, vehicle damage and congestion due to accidents. -Safety in first, second and third world countries.

Countermeasures (Haddon Matrix):

-Vehicle safety technologies (which are the focus of this course), road infrastructure, enforcement of speed, alcohol and other regulations, driver education.

-Consisting of Pre-crash, In-crash and Post-crash measures. 2. Active Safety Vehicle Dynamics Control

-The role of tyre, suspension, steering and braking system. -Antilock Braking Systems (ABS).

-Electronic Stability Programs (ESP).

3. Active Safety Driver Assistance & Automation -Vision and Visibility.

-Obstacle & vehicle detection technology.

-Vehicle to vehicle communication and vehicle to infrastructure communication.

-Driver assistance systems such as (adaptive) cruise control, brake assist, automatic emergency braking, lane departure warning & prevention.

-Highly Automated Driving.

-Automation versus support, driver acceptance, trust and overreliance, behaviour adaptation. 4. Passive Safety - Crash Dummies & Injury Assessment

-Injury severity scales (AIS, MAIS, )

-Injury criteria and tolerances and their derivation from biomechanical testing and real accidents. -Development and validation of crash test dummies using biomechanical data.

-Mathematical human body models.

5. Passive Safety Design for Impact conditions

Frontal car impact will be used to demonstrate how occupant safety is enhanced by the deformable vehicle front structure, the protective vehicle compartment, belt system, airbag and seat.

-Injuries to car occupants in Frontal Impact. -Demonstrated benefits of belts and airbags.

-Energy dissipation; optimal force-deflection characteristics with maximal energy dissipation and minimal deformation (illustrated with an assignment).

-Crush zone & Safety cabin, compatibility of vehicle shape and stiffness across the diversifying car fleet. -Belt & airbag, triggering of belt pretensioner and airbag

-Test procedures and design methods.

-Effect of vehicle mass, velocity, crush zone stiffness, belt and airbag stiffness on human body accelerations and injury risk (explored with an assignment using the crash simulation software MADYMO).

Side Impact, Rollover, Rear impact & Pedestrian will be reviewed in a similar manner:

-SIDE IMPACT: Protection offered by the protective vehicle compartment, airbags and vehicle interior padding. -ROLLOVER: Effectiveness of curtain airbags and belts to prevent ejection.

-REAR IMPACT: Passive and active seat systems for rear impact.

-PEDESTRIANS and CYCLISTS impacted by vehicle fronts: Deformable vehicle front and bonnet structures. 6. Safety test procedures

Review of regulated test procedures, consumer test procedures and best practice for active and passive safety as introduced in previous sessions.

Study Goals Upon successful completion of the course you will be able to:

1.Describe and analyse potential benefits of current and future automotive safety systems

2.Contribute to the design of automotive safety systems, using established and innovative test procedures 3.Express your own vision on future developments of automotive safety systems

Education Method Lectures (4 hours per week) Self-study

Conceptual assignments Design assignments

Assessment The Written Exam can be taken after successful completion of the assignments

Enrolment / Application Register on Blackboard and mail [email protected]

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ME1110

Medical Device Prototyping

6

Responsible Instructor Dr. J.J. van den Dobbelsteen

Instructor Dr.ir. D.H. Plettenburg Instructor Dr.ir. G.J.M. Tuijthof Instructor Prof.dr.ir. J.L. Herder Contact Hours / Week

x/x/x/x

0/0/2/2

Education Period 3 4

Expected prior knowledge Previous experience in design is considered as a pre.

Course Contents In the course Medical Device Design students develop and produce a sound solution to a problem in the medical field in collaboration with their supervisor, clinicians, instrument makers and production companies. The course offers students to work on a design assignment that encompasses the complete design cycle from problem analysis to actual production of the prototype by professional instrument makers. The course is a logical follow-up of the course Biomedical Design Engineering WB2308 but other routes to get access to the course are possible.

Students will select a design assignment from a number of options proposed by clinicians (e.g. surgeons, rehabilitation doctors) or companies. The students work in groups of two under close supervision of an instructor on the assignment, to end up with a working prototype. The course is finalized with a public presentation for clinicians and companies and a report.

In weekly meetings of the instructors with all participating groups students are expected to present and discuss the progress in their project in an informal setting.

Study Goals The student must be able to:

1. Employ a design task with a multidisciplinary team to solve a real technical problem in a medical environment: translate the clinical problem as presented in the assignment into a practical, technical solution, i.e. do a problem analysis, specify design requirements, come up with a conceptual design, create a cardboard model;

obtain feedback on the clinical feasibility of the concept from the medical assignor to further detail the design.

2. Realize the fabrication of a prototype medical device in collaboration with instrument makers and production companies: define economical demands;

create detailed drawings, CAD model; formulate a production plan.

3. Evaluate the performance of the new prototype:

test the technical functionality of the device and/or the clinical applicability of the device in a medical setting; reflect on previously made design choices based on the performance of the prototype.

4. Present the design to a multidisciplinary audience of technicians, clinicians and (medical) companies.

Education Method Design project

Assessment Prototype, report and final presentation

Design Content Specification of technical, economical and fabrication demands, development and selection of conceptual designs, CAD, Fabrication of prototype.

ME1115

Applied Experimental Methods: Human Factors

4

Responsible Instructor Dr.ir. D.A. Abbink Contact Hours / Week

x/x/x/x

0/0/0/2

Exam Period Different, to be announced

Expected prior knowledge WB1104 Experimental Design, Statistics & The Human

Study Goals After following this course, students should be able to:

Independently design, execute and analyse a human factors experiment, and:

Formulate a clear hypothesis in the field of human factors that can be tested experimentally, in a realistic amount of time with a realistic amount of means

Set up a methodologically sound experiment to test this hypothesis oSelect, adapt or build an experimental setup

oGather reliable experimental data on test subjects oChoose appropriate metrics

oApply correct statistical techniques

oChoose the most relevant results, and construct the most clear figures to show them Critically reflect on your own experimental findings

Communicate clearly through presentations and writing

Education Method Students will perform a 'mini-graduation project' in six weeks, in small groups. They will independently design, perform, analyze and present a human factors experiment, guided by four supervisors.

Assessment The final grade is composed of the following sub grades 10% Presentation 1: Hypothesis

10% Presentation 2: Methods

10% Presentation 3: Analyzing Results (two main results figures, explain) 20% First Draft for Paper

50% Final Paper

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ME1120

Space Robotics

4

Responsible Instructor Dr.ing. A. Schiele

Contact Hours / Week x/x/x/x

0/0/0/2

Exam Period Different, to be announced

Course Contents Overview to space robotics systems, design and requirements. This course will set the foundation to design space robotic systems and to understand the requirements specifically imposed on robots by application in non-terrestrial environments. The lecture provides an overview to some relevant basics about robotic manipulators in general and then prepares the students to consider particular constraints posed by temp., radiation and space robotic systems. Focus will lie on manipulator type of robotic applications, but also typical mobile robotics scenarios will be outlined.

Lect. 1:Introduction Robots in space;

Manipulators, Mobile robotics;

Purpose, goals, difference w.r.t. terrestrial robotic systems Lect. 2:Basics I: Homogeneous coordinates

Concept of homogeneous transformations, linear & rotational transforms

(Euler angles, quaternions), Denavit-Hertenberg Convention, 6 DOF forward and inverse kinematics (Assignment) Lect. 3:Basics II: Link velocity

Link velocity and velocity propagation, Jacobians (analytical, geometrical, numerical,), construction of Jacobian, Lect. 4:Basics III: Link forces & Redundancy

Link force propagation, force transformations

Manipulator redundancy, Manipulator & operational space, null space, redundancy resolution strategies, redundant inverse kinematics

Lect. 5:Exercises (Basics I-III) Lect. 6:Space environmental effects

Temperature Environment (effects on mechanical Systems), radiation environment (effects on electronic systems), launch and landing environments (examples), planetary surface environments

Lect. 7:Tribology in space

Basic effects, overview of models, selection of appropriate lubricants Lect. 8:Robotic actuators in space

DC, stepper and brushless motors, bearing and bushing modification, qualified motors, selection of actuators. Lect. 9:Sensors for manipulators in space

Position/Velocity Sensing, force sensors, strain gauges (layout and design), sensor electronics, Lect. 10:Testing for space mechatronics

Introduction to applicable standards, mechanical, thermal and electrical testing. (I/F load calculation, thermal modeling approaches, EMC)

Lect. 11:Applications I: Robotic planetary missions

Mission operation, examples about mission control (MER, Nanokhod) Lect. 12:Applications II: Orbital robotics

Operational modes: human-machine interfaces, examples of ERA/SSRMS, introduction to Telecontrol and Tele-operation concepts

Lect. 13/14:Lab assignment (TBC):

A: SRMS/SSRMS interfaces joystick (trl. Of 7 dof. Manipulators (PA.10, LBR4) B: Nullspace motion, resolution of 7 dof redundancy on LBR4

(A+B = final assignment)

Study Goals The students are capable:

* To identify, define and analyse problems of robots, vehicles and other mechanical systems in space * To design and produce a sound solution to typical space robotics problems

The following exit qualifications serve to realise this goal: The students meet the following qualifications:

* Basic knowledge of the problems of mechanical systems in space, i.e. related to tribology, actuators, mechatronics, sensors, thermodynamics, etc.

* Ability to set up motion equations for 3D mechanisms applicable in space and in general, calculation of kinematics and dynamics using most often used methods.

* Knowledge about particular space environment requirements and testing methods. * Knowledge about the space mission operations and human interfacing requirements. * Analyze some basic problems in space robotic missions, and synthesize an adequate solution.

Education Method 14 lectures, 2 assignment

Prerequisites Basic understanding of: linear algebra, physics, analog electronics, digital & analog signal processing, mechanics (statics, kinetics, dynamics), linear control theory, Matlab, C.

Assessment Assignment

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ME1160

Compliant Mechanisms

4

Responsible Instructor Prof.dr.ir. J.L. Herder

Instructor J.A. Gallego Sanchez Instructor Dr. N. Tolou Contact Hours / Week

x/x/x/x 0/0/2/2 Education Period 3 4 Start Education 3 Exam Period 4 5

Course Contents This course is concerned with the design of mechanisms in which compliance or stiffness plays a vital role. The main topics are spring mechanisms for static balancing, and compliant mechanisms. In static balancers, spring energy is used to reduce actuation effort, e.g. to cancel gravity loading, or to neutralize the effect of parasitic elastic forces. Classic linkage design methods in combination with new energy methods will be applied in their design. Compliant mechanisms are a subset of mechanisms that gain their motion from deformation of slender segments. These mechanisms are in fact complex springs, and in cases where their compliance is undesired, static balancing can be applied. This time around, the mechanism and the balancer both are compliant, which raises the need for new design methods. Design of compliant mechanisms is complex, design of compliant balancers even more. A variety of methods will be presented to realize effective and efficient designs. The first half of the course will be focused on theory and design methods, while the second half of the course is dedicated to an assignment in which a self-selected assignment is carried out resulting in a physical demonstrator model manufactured using rapid prototyping techniques.

Study Goals After successful completion of the course, students will have insight in: - Elements of classic kinematic synthesis methods

- Design methods for spring mechanisms and static balancers - Synthesis and analysis of compliant mechanisms

- Optimization of spring mechanisms and compliant mechanisms - Applications including surgical tools, rehabilitation devices, MEMS - Conducting a design process of a compliant mechanism

- Rapid prototyping of a compliant mechanism

Education Method Lectures with assignments

Assessment Oral examination based on assignments

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SC4060

Predictive and adaptive control

4

Responsible Instructor Dr.ir. A.J.J. van den Boom

Expected prior knowledge Undergraduate curriculum

Course Contents The model predictive control (MPC) strategy yields the optimization of a performance index with respect to some future control sequence, using predictions of the output signal based on a process model, coping with amplitude constraints on inputs, outputs and states. The course presents an overview of the most important predictive control strategies, the theoretical aspects as well as the practical implications, that makes model predictive control so successful in many areas of industry, such as petro-chemical industry and chemical process industry. Hands-on experience is obtained by MATLAB exercises with academic examples and a industrial simulation of MPC on a two-product (binary) distillation column. Contents of the course: General introduction. Differences in models and model-structures, advantages and limitations. Prediction models in state-space setting. Standard predictive control scheme. Relation standard form with GPC, LQPC and other predictive control schemes. Finite/Infinite horizon MPC. Solution of the standard predictive control problem. Stability, robustness, initial and advanced tuning. Robust design in predictive control. See also: http://www.dcsc.tudelft.nl/~sc4060

Study Goals Study Goals:

The student should be able to

1. Explain how and why MPC has emerged from industry. 2. List the five basic items of MPC and discuss their role.

3. Recognize and describe two different type of models (IO and IIO models) in MPC and explain when a type of model is suited for a specific application.

4. Show that all models can be transformed into a state-space model. 5. Understand the concept of prediction in MPC.

6. Make a prediction in the noiseless and the noisy case. 7. Explain why a standard formulation is desirable.

8. Transform an MPC problem into the standard MPC problem. 9. Derive the steady-state of a system.

10. Solve the finite and infinite horizon problem.

11. Derive the realization for the LTI-case and for the inequality constrained case. 12. Describe three ways to deal with infeasibility.

13. Discuss stability for the LTI case and in the inequality constrained case.

14. Describe four modifications of the MPC design method that will provide guaranteed stability of the closed loop 15. Give the relation of the MPC scheme and the IMC scheme.

16. Describe the concept of robustness in MPC. 17. Motivate and use the rules of robust tuning in MPC.

18. Motivate the rules-of-thumb for initial tuning and use these rules for tuning an MPC controller. 19. Derive an MPC controller using MATLAB.

Education Method Lectures 0/0/3/0

Literature and Study Materials

Course notes "Model Predictive Control" by Ton van den Boom (TU Delft) 2013.

Assessment Written exam and a homework assignment

Remarks Computer use: for the homework assignment, the use of MATLAB on PC is required. The assignment can be done either at home or at the DCSC laboratory.

Department 3mE Department Delft Center for Systems and Control

SC4091

Optimization in Systems and Control

4

Responsible Instructor Prof.dr.ir. B.H.K. De Schutter Instructor Dr.ir. A.J.J. van den Boom Contact Hours / Week

Expected prior knowledge Basic knowledge about linear state space models and stability, and basic experience with Matlab

Course Contents In this course we study numerical optimization methods, mainly from a user point of view, and we discuss several applications of optimization in systems and control. First we discuss the basic characteristics and properties of various optimization methods. We also provide guidelines to determine which algorithms are most suited for a given optimization problem. Next, the previously treated optimization methods are used in a multi-criteria controller design application. We also focus on the translation of the design constraints into mathematical constraints. Another important topic is the determination of good initial conditions. For more information, see: http://www.dcsc.tudelft.nl/~sc4091

Study Goals After this course the students should be able to select the most efficient and best suited optimization algorithm for a given optimization problem. They should also be able to reformulate an engineering problem into a (mathematical) optimization problem starting from the given specifications. They should be able to reduce the complexity of the problem using simplifications and/or approximations so as to augment the efficiency of the solution approach.

Education Method Lectures

Literature and Study Materials

Lecture notes "Optimization in systems and control" by T. van den Boom and B. De Schutter, Delft, 2013 + handouts + slides

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SC4110

System Identification

5

Responsible Instructor Dr.ir. X.J.A. Bombois

Contact Hours / Week x/x/x/x

0/0/6/0

Course Contents Experimental modelling of dynamic systems; methodology.

Discrete-time signal- and system-analysis. Identification of transferfunctions. Representations of linear models; black-box models.

Identification of prediction-error-methods; least squares-method. Approximation modelling; algorithms. Experiment design and data-analysis. Identification in time- and frequency-domain; closed-loop identification; model validation; Matlab toolbox; laboratory assignment.

Study Goals General learning objectives

System identification deduces and subsequently validates mathematical models of real-life dynamical systems (industrial processes, mechanical servo-systems, ) based on experimental data collected from those systems. This course can be considered as a follow up of the course Sc4010 Filtering and Identification where different solutions to identify a model are presented (note nevertheless that Sc4010 is in no way a prerequisite for this course). The course Sc4110 selects two widely-used linear identification methodologies: Empirical Transfer Function Estimate (ETFE) and Prediction Error Identification (PEI) and provides the students with engineering and theoretical skills to perform the identification in a suitable way. In particular, after this course, the students are able to set up an experiment, identify a nominal model, assess the accuracy/precision of this model, and make appropriate design choices to arrive at a validated model.

Detailed learning objectives:

1)Based on time-domain input-output data collected on the true system in open loop, the student is able to deduce a frequency-domain model of a system using the ETFE identification method

2)The student is able to specify the bias and variance properties of models identified by the ETFE identification method. 3)For the ETFE identification method, the student is able to interpret the bias and variance properties of identified models, and knows how these properties can be influenced by input signal design and by applying windowing techniques.

4)The student is able to specify different linear model structures, and to characterize their computational and statistical properties in prediction error identification.

5)The student masters the statistical properties (bias, variance, consistency) of prediction error estimators both for the situation of exact plant and noise model sets, and for the situation of exact plant model sets only.

6)The student is able to specify how experiment design and signal to noise ratio affect estimated models. This includes mastering the concept of sufficiently exciting input signals, and the design of appropriate input signals.

7)The student is able to apply and interpret correlation-based model structure validation tests, and to draw conclusions on the (in)validity of model structures, distinguishing between plant models and noise models.

8)For both ETFE and PE identification methods, the student is able to appropriately acquire digital data from a real-life system (choice of sampling frequency, data processing).

Required level for the assignment

1)the student is able to explain in details the presented theory, to demonstrate important properties and to make links and comparisons between the different parts of the course

2)the student is able to use the presented tools in practice on a laboratory setup and to interpret his/her result with a critical attitude

Education Method Lectures and project 0/0/6/0

Assignment form: final project on a laboratory setup followed by an oral examination

Literature and Study Materials

lecture notes and slides

Prerequisites Basics in linear algebra and signal theory

Assessment Assignment form: final project on a laboratory setup followed by an oral or a written examination (the choice between oral and written exam will depend on the number of students)

Remarks Course load: 14 theory courses, 3 exercise sessions and 2 computer sessions

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SC4120

Special Topics in Signals, Systems & Control

3

Responsible Instructor Prof.dr.ir. J. Hellendoorn

Contact Hours / Week x/x/x/x

0/0/0/2

Course Contents The lecture has a changing content, directed towards the current developments in signal analysis, system identification and control engineering. It either consists of contributions from different lecturers, and is sometimes organized in the form of a seminar sequence with active participation of students.

Please notice that the course is not offered every year. Check Blackboard for details.

Study Goals Acquire competence to report on a particularly chosen scientific development within signal analysis, system identification or control

Identify essentials in an advanced scientific article or book chapter about signals, systems or control Compose a summary with a balanced exposition of generic aspects, details, examples

Orally report on results of investigation, including an educated evaluation of the subject Defend presentation and evaluation in a scientific discussion with audience

Enter a scientific dispute about the particular topic of specialization of a fellow-student

Education Method Lecture 0/0/0/2

Literature and Study Materials

Lecture notes or book to be announced

Assessment Appointment

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WB1310

Multibody Dynamics A

3

Responsible Instructor Dr.ir. A.L. Schwab

Expected prior knowledge wb1116, wb1216

Course Contents Multibody Dynamics is about the analysis of the motion of complex mechanical systems as in a robot arm, a railway bogie or a gantry crane. In this course you will learn about the fundamentals of Multibody Dynamics: the description of the orientation of a rigid body in space, the Newton-Euler equations of motion for a 3D rigid body, how to add constraints to the equations of motion, and how to solve such a system of coupled equations. Next you will spend most of the time (80%) in doing the assignments with the ADAMS Software.

Study Goals The student is able to make a complex computer model of a realistic 3-D mechanical system in a standard software package for multibody system dynamics (currently MSC.ADAMS), to perform a dynamic analysis on the model, to draw some conclusions from this analysis, and to identify the limitations of the model.

More specifically, the student must be able to:

1.apply the Newton-Euler equations of motion to a single 3D rigid body

2.describe the orientation of a rigid body in 3-D space by means of Euler angles and derive expressions for the angular velocities in terms of the Euler angles and their time derivatives

3.construct a computer model of a complex mechanical system by selecting the appropriate number of rigid bodies, and number and type of constraints

4.make approximate dynamic calculations for a complex computer model in order to determine for instance the stiffness and the damping of individual components

5.make approximate dynamic calculations for a vehicle system model in order to verify for instance the eigenfrequencies and the equilibrium state in steady motion

6.explain the difference between the results from a dynamic analysis on the model and the behaviour of the real system, identify the limitations of the model

7.explain the finite accuracy of the results from a dynamic analysis due to the finite accuracy of the numerical integration together with the constraint violations

Education Method Lectures, computer assignment.

Computer Use The course and the course/lab work are fully computer-oriented. The Lab assignment consists of a number of practical problems that have to be worked out with the software package ADAMS. Your findings are to be put down in a Lab Report.

Literature and Study Materials

Course material:

Lecture Notes and M.Wisse, Introduction to ADAMS, Delft, 1999. References from literature:

A.A.Shabana, ' Dynamics of multibody systems', Wiley, New York, 1998.

E.J.Haug, ' Computer aided kinematics and dynamics of mechanical systems, Volume I: Basic methods', Allyn and Bacon, Boston, 1989.

P.E.Nikravesh, ' Computer-aided analysis of mechanical systems', Prentice-Hall, Englewood Cliffs, 1988.

M. Géradin, A. Cardano, ' Flexible multibody dynamics: A finite element approach', J. Wiley, Chichester, New York, 2001.

Assessment Written exam + assignment report

Remarks The written exam is of the open book type and has the form of a questionnaire about the findings as written down in your Lab Report. This report serves as reference material for your exam. At the end of the exam the questionnaire together with the Lab Report are to be handed over, The grading is on both items.

Checkout the wb1310 home-page at http://bicycle.tudelft.nl/schwab/ for up-to-date information.

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WB1406-07

Experimental Dynamics

3

Responsible Instructor D. de Klerk

Contact Hours / Week x/x/x/x

0/0/2/2

Parts The course consists of two parts: - part A Classes

- part B Laboratory experiments (two in total)

Course Contents Part A: Theory

- How does a modern measurement system work?? In specific how does it minimize disturbances and does it cope with filter effects?

- Pitfalls in Frequency Analysis: Descrete algorithms, Leakage, Aliasing. Know it or you'll mess up your experements. - The power of Transfer and Frequency Response Functions (FRF); why are they so usefull?

- Experimental Modal Analysis: Do's and don't, pitfalls & challenges in practice.

- Harmonic excitation (with frequency stepping), impulsive excitation, stochastic excitation.

- Experimental Dynamic Substructuring. An alternative FEM formulation which can also use experimental data. - Rotoranalysis, operational system analysis.

- Latest advances in measurement technology.

- Transfer Path Analysis, a useful way to identify source excitation and system sensitivities. Moto: In theory, theory and practice are the same... In practice they are not.

This course concentrates on pointing where those differences orignate from, valuable for any who'll perform measurements, needs to analyse measurements or who tries to match his / her simulation to the experiment.

Part B: Experimental analysis

The second part of the course involves working on assigments meant to illustrate concepts described in Part A and to deepen insight.

Teams of four students each, carry out multiple experiments. Last year students got to analyse measurement data measured by them selves on my car on the Rotterdamsestraatweg. Can it be more exciting? Yes, maybe you have always wanted to analyze a different product like a boat, train, motorbike, music instrument, etc. maybe we can come up with that exciting experiment in this year's course!

Study Goals In general the student is able to perform dynamic measurements, being aware of possible pitfalls. More specifically, the student must be able to:

1. describe the effects of Quantization, Leakage, Aliasing in measurements and measurement equipment.

2. explain the principle of extracting modal parameters (resonance frequency, spring constant, damping ratio) from system response both in the time domain and in the frequency domain

3. explain the principle of extracting modal parameters (modal frequencies, modal gains, modal damping ratios) from system response both in the time domain and in the frequency domain

4. discuss relative merits of different excitation techniques (shaker with frequency sweep, impact hammer, shaker with random excitation)

5. discuss the prinicples and the elative merits of different sensing techniques (strain gauge, seismic mass, piezo crystal, electromagnetic induction, laser vibrometer)

6. carry out dynamic experiments, analyze the data, and report and discuss his findings.

Education Method Classes followed by laboratory projects.

Computer Use Matlab Word LaTeX PowerPoint

Literature and Study Materials

Course material: - Part A: Course notes

- Part B: Laboratory assignments manual References from literature:

- see the reference list in the Course notes.

Assessment Written report, and oral discussion of experiment activities and of report.

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WB1413-04

Multibody Dynamics B

4

Responsible Instructor Dr.ir. M. Wisse

Instructor Dr.ir. A.L. Schwab Contact Hours / Week

x/x/x/x

0/0/2/2

Different, to be announced

Expected prior knowledge wb1113wb, wb1216

Course Contents In this course we will cover a systematic approach to the generation and solution of equations of motion for mechanical systems consisting of multiple interconnected rigid bodies, the so-called Multibody Systems. This course differs from 'Advanced Dynamics', which mostly covers theoretical results about classes of idealized systems (e.g. Hamiltonian systems), in that the goal here is to find the motions of relatively realistic models of systems (including, for example, motors, dissipation and contact constraints). Topics covered are:

-Newton-Euler equations of motion for a simple planar system, free body diagrams, constraint equations and constraint forces, uniqueness of the solution.

-Systematic approach for a system of interconnected rigid bodies, virtual power method and Lagrangian multipliers. -transformation of the equations of motion in terms of generalized

independent coordinates, and lagrange equations.

-Non-holonomic constraints as in rolling without slipping, degrees of freedom and kinematic coordinates. -Unilateral constraints as in contact problems.

-Numerical integration of the equations of motion, stability and accuracy of the applied methods.

-Numerical integration of a coupled differential and algebraic system of equations (DAE's), Baumgarte stabilisation, projection method and independent coordinates.

-Newton-Euler equations of motion for a rigid three-dimensional body, the need to describe orientation in space, Euler angles, Cardan angles, Euler parameters and Quaternions.

-Equations of motion for flexible multibody systems, introduction to Finite Element Method approach, Linearised equations of motion.

Upon request and if time and ability of the instructor allows, related topics are open for discussion.

Study Goals The student is able to find the motions of linked rigid body systems in two and three dimensions including systems with various kinematic constraints, like there are: sliding, hinges and rolling, and closed kinematic chains.

More specifically, the student must able to:

1.derive the Newton-Euler equations of motion for a simple planar system, draw free body diagrams, set-up constraint equations and introduce constraint forces, and demonstrate the uniqueness of the solution

2.derive the equations of motion for a system of interconnected rigid bodies by means of a systematic approach: virtual power method and Lagrangian multipliers

3.transform the equations of motion in terms of generalized independent coordinates, and derive and apply the Lagrange equations of motion

4.apply the techniques from above to systems having non-holonomic constraints as in rolling without slipping, degrees of freedom and kinematic coordinates

5.apply the techniques from above to systems having unilateral constraints as in contact problems

6.perform various numerical integration schemes on the equations of motion, and predict the stability and accuracy of the applied methods

7.perform numerical integration on a coupled system of differential and algebraic equations (DAE's), apply Baumgarte stabilization, the coordinate projection method and transformation to independent coordinates

8.derive the Newton-Euler equations of motion for a general rigid three-dimensional body system connected by constraints, identify the need to describe orientation in space

describe the orientation in 3-D space of a rigid body by means of: Euler angles, Cardan angles, Euler parameters and Quaternions, derive the angular velocity and accelerations in terms of these parameters and their time derivatives, and their inverse

9.derive the equations of motion for flexible multibody systems by means of a Finite Element Method approach, and extend this to linearised equations of motion

Education Method Lectures (2 hours per week)

Computer Use The course is computer-oriented. In doing the assignments you will be using Matlab, Maple or related computer software.

Literature and Study Materials

Course material: Arend L. Schwab, `Lecture Notes on Multibody Dynamics', Delft, 2003 References from literature:

A.A.Shabana, ' Dynamics of multibody systems', Wiley, New York, 1998.

E.J.Haug, ' Computer aided kinematics and dynamics of mechanical systems, Volume I: Basic methods', Allyn and Bacon, Boston, 1989.

P.E.Nikravesh, ' Computer-aided analysis of mechanical systems', Prentice-Hall, Englewood Cliffs, 1988.

M. Géradin, A. Cardano, ' Flexible multibody dynamics: A finite element approach', J. Wiley, Chichester, New York, 2001.

Assessment Final Project

Remarks There will be weekly assignments and a final project. You have to make a report on the final project. In doing the assignments I strongly encourage you to work together. The final project is individual. Check out the up-to-date web page at

http://bicycle.tudelft.nl/schwab/

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WB1416-11

Numerical Methods for Dynamics

4

Responsible Instructor Dr.ir. P. Tiso

Responsible Instructor Dr.ir. M. Langelaar Course Coordinator Ir. J.J.L. Neve Contact Hours / Week

x/x/x/x

0/0/2/2

Course Contents Using engineering tools as black boxes can be dangerous and inefficient. This is especially true when performing dynamic analysis of structures in a finite element package. Choosing the right finite element types and the suitable solution procedure is critical to get accurate results and to compute solutions efficiently. In order to discuss basic principles of numerical methods for dynamics and to explain fundamental concepts related to dynamic analysis, the course will cover the following topics: - Elastodynamic equations for a continuous media (short recap)

- Discretization techniques: Rayleigh-Ritz and Finite elements (bar, beam) - Linear solvers, storage techniques and singular systems

- Free vibration modes, mode superposition techniques and eigensolvers for large systems - Accuracy of modal superposition, modal acceleration, system excited through support - model reduction, including dynamic substructuring

- time-integration of linear and non-linear systems

- computing senstitivity of modes and eigenfrequency to design parameters, model updating - Parallel computing techniques for fast solvers

Some topics might be dropped depending on students background. Specific topics might also be discussed if time permits. In this courses emphasis will be put on understanding fundamental concepts of numerical methods and how they relate to the mechanics of structures. Therefore, the oral (open book) exam will concentrate on the mastering of concepts rather than on formulation details. A computational project will be included (using Matlab pre-cooked routines and/or Ansys-Nastran).

Study Goals The student is able to grasp the basic numerical concepts underlying the methods used to perform the analysis of models in engineering statics and dynamics. He can choose the appropriate methods in specific applications and analyse the reasons why methods can result in erroneous solutions. He is aware of computational and programming issues relative to specific numerical techniques and implementations.

1. understand the assumption underlying the discretization process and the associated limitations in terms of spatial and frequential accuracy

2. describe the solutions steps needed to solve linear systems and choose the proper algorithm according to the problem (LU, Cholesky, LDLT) including storage techniques

3. identify singular matrices arising from mechanical systems and compute a generalized inverse of a singular matrix and its nullspace

4. use the concept of eigenmodes to write the dynamic solution as a modal superposition and the system matrices in the form of spectral expansions

5. choose the proper eigensolvers and implement standard techniques from the family of the power iteration including shifting 6. evaluate the approximations inherent to modal truncation in the mode displacement method and apply the mode acceleration method to correct for the static truncated part

7. solve by mode superposition the dynamics of systems excited by their support and apply the technique of additional mass to replace imposed displacements

8. describe the concept of effective modal mass and explain how it can be used to evaluate the contribution of modes to the approximation by modal series of the response of systems excited by the support

9. describe the concept of model reduction and write the reduced equations and write the reduced dynamic equations according to the static Guyan-Iron reduction

10. outline the idea of substructuring and derive the substructure approximation in the Craig-Bampton method, derive the associated reduced matrices and describe how accurate the Craig-Bampton approximation is in practice

11. solve the normal equations using Laplace transforms and put the solution procedure of the normal equations in a recursive matrix

12. discuss the concepts of consistency, stability and accuracy for simple implicit and explicit direct time-integration schemes 13. derive the time-integration formulas belonging to the Newmark family and discuss the stability limits and the accuracy of the Newmark schemes

14. write the explicit and implicit time-integration algorithms for non-linear systems 15. write the sensitivity of eigenmodes and eigenfrequencies of dynamic systems

16. describe the basic principles of parallel computing and explain the concept of domain decomposition and write the decomposed problem in a dual and primal interface problem suitable for parallel computing

17. write a small program (in Matlab for instance) to perform a dynamic analysis according to the Finite Element method, and implement the proper numerical techniques

Education Method Lectures, computer use (16 hours)

Computer Use Use of ANSYS and/or Matlab for assignment and illustration

Literature and Study Materials

Course material:

Lecture notes (available through blackboard) References from literature:

Mechanical Vibrations, Theory and Application to Structural Dynamics, M. Géradin and D. Rixen, Wiley, 1997. The Finite Element Method: Linear Static and Dynamic Finite Element Analysis, T.J.R. Hughes Prentice-Hall, 1987. Finite Element Procedures, K.J. Bathe, Prentice-Hall, 1996

Structural Dynamics: an introduction to computer methods, R.R. Craig, Wiley, 1981, ISBN 0-471-04499-7 Matrix Computation, G.H. Golub and C.F. Van Loan, Johns Hopkins University Press, 1996.

Assessment Oral examination

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WB1418-07

Engineering Dynamics

4

Responsible Instructor Dr.ir. P. Tiso

Required for Engineering Dynamics and Mechanicsms (wb1419, extension of wb1418), Multibody Dynamics A (wb1310), Multibody Dynamics B (wb1413), Numerical Methods in Dynamics (wb1416), Non-Linear Vibrations (wb1412).

Expected prior knowledge Statics and Strength of materials (e.g. wb1214), Dynamics (e.g. wb1311), Linear Algebra

Course Contents The dynamic behavior of structures (and systems in general) plays an essential role in engineering mechanics and in particular in the design of controllers. In this master course, we will discuss how the equations describing the dynamical behavior of a structure and of a mechatronical system can be set up. Fundamental concepts in dynamics such as equilibrium, stability, linearization and vibration modes are discussed. If time permits, also an introduction to discretization techniques to approximate continuous systems is proposed.

The course will discuss the following topics:

- Review of the virtual work principle and Lagrange equations - linearization around an equilibrium position: vibrations - Free vibration modes and modal superposition

- Forced harmonic response of non-damped and damped structures

Study Goals The student is able to select different ways of setting up the dynamic equations of mechanical systems, to perform an analysis of the system in terms of linear stability and vibration modes and to properly use mode superposition techniques for computing transient and harmonic responses.

1. explain the relations between the principle of virtual work and the Lagrange equations for dynamics to the basic Newton laws 2. describe the concept of kinematic constraints (holonomic/non-holonomic, scleronomic/rheonomic) and choose a proper set of degrees of freedom to describe a dynamic system

3. write the Lagrange equations for a minimum set of degrees of freedom and extend it to systems with additional constraints (Lagrange multiplier method)

4. linearize the dynamic equations by considering the different contributions of the kinetic and potential energies (both for system with and without overall motion imposed by scleronomic constraints)

5. analyze the linear stability of dynamic systems (damped and undamped) according to their state space formulation if necessary 6. explain and use the concept of free vibration modes and frequencies

7. interpret and apply the orthogonality properties of modes to describe the transient and harmonic dynamic response of damped and undamped systems

8. evaluate the approximations introduced when using truncated modal series (spatial and spectral) 9. explain how mode superposition can be used to identify the eigenparamters of linear dynamic systems

Education Method Lecture

Computer Use The assignement will require using Matlab-like software.

Literature and Study Materials

Course material:

Lecture notes (available through blackboard) References from literature:

Mechanical Vibrations, Theory and Application to Structural Dynamics, M. Géradin and D. Rixen, Wiley, 1997. Applied Dynamics, with application to multibody and mechatronic systems, F.C. Moon, Wiley, 1998, isbn 0-471-13828-2. Engineering vibration, D.J. Inman, Prentice Hall, 2001, isbn 0-13-726142-X

The Finite Element Method: Linear Static and Dynamic Finite Element Analysis, T.J.R. Hughes Prentice-Hall, 1987. Structural Dynamics in Aeronautical Engineering, M.N. Bismark-Nasr, AIAA education series, 1999, isbn 1-56347-323-2

Assessment written exam + oral exam + assignment

Remarks An assignment will be given which will make up part of the final mark. SInce the enphasis of the lectures will be on understanding concepts in dynamics more than memorizing formulas, the oral exam will be open book to evaluate your understanding of the concepts.

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WB1429-03

Microfluidics

3

Responsible Instructor Dr. D.S.W. Tam

Required for wb1427-03, wb1428

Expected prior knowledge WB1125, TN1731 or equivalent

Course Contents This course is an introduction to fluid mechanics at small scales. The subjects treated are:

Scaling laws, Navier-Stokes equations for micro-scale gas and liquid flows, for electroosmotic flow, electrophoresis,

dielectrophoresis, dispersion and diffusion, capillary effects, experimental techniques, applications in flow control, flow sensors, valves, pumps, mixers, filters, separators, heaters and life science applications.

Different mehtods for experimental flow characterization are discussed, i.e. microPIV (microscale Particle Image Velocimetry).

Study Goals Main learning goals of this course:

Introduction in fluid mechanics at small scales so that the student is capable to understand scientific literature on this topic and to conduct research on this topic. The student learns about the differences of the treatment of the Navier-Stokes equations, when surface forces become dominant over volume forces.

Specific l