PhD or Post-doc Position: Optimal Motion Control for Machine Tools
The goal of this research project is to develop efficient methods to optimize point-to-point motion trajectories for machine tools. Machine tools are mechatronic systems that can often be described by either a linear time-invariant (LTI) model or a linear parameter varying (LPV) model. The approach followed in this project is to combine existing classical cascade or robust linear time-invariant (LTI) controllers with optimized motion trajectories.
The motion trajectory design will be based on a framework that was recently developed within OPTEC, and that is a generalization of the work of Kwakernaak and Smit [1]. The basis is a polynomial spline of arbitrary order that is optimized with respect to some performance criteria, and subject to boundary constraints and bounds on the inputs, outputs, and state variables. A careful selection of performance criteria and constraints yields a convex program that can be solved efficiently, allowing us to calculate Pareto-optimal points for these typically multi-criteria optimization problems.
This framework will be further developed to account for system uncertainty (robust design) and large system dynamics changes that are typically described using linear parameter varying (LPV) models. Possibilities for extensions of the current convexity based optimization approaches in order to address fully nonlinear models shall also be investigated.
The emphasis of this project lies on the development of fast and reliable open-source algorithms to optimize these trajectories, the analysis of the trade-off between the different design parameters, e.g. level of continuity of the trajectories, time optimality, level of residual system vibrations, comparison with other existing motion trajectory parametrizations, and experimental validation on a linear motor based pick-and-place machine.
This research will be performed under the joint supervision of Professor Jan Swevers of the division PMA of the Mechanical Engineering Department (http://www.mech.kuleuven.be/pma/) and Professor Moritz Diehl of the division SCD of the Electrical Engineering Departement (http://www.esat.kuleuven.be/scd/). The work will profit from concerted programming efforts within the OPTEC team towards a suite of open-source optimal control software tools.
Candidates for this position (phd or post-doc) shall provide a detailed CV including names of at least two referees. A thorough background in control theory, dynamic optimization, and implementation of numerical algorithms is required. Please indicate your background with respect to these items clearly in your CV. Experience in the practical implementation of controllers is a benefit but not mandatory. However, interest for practical control implementation, programming, and team work is very important.
Contact: Prof. Dr. Moritz Diehl (E-mail: moritz.diehl@esat.kuleuven.be)
Besides a competitive salary we offer a stimulating research environment within our young but growing "Center of Excellence on Optimization in Engineering", or OPTEC. OPTEC is well connected internationally with several high ranking international visitors every month, and encompasses groups from four different departments of K.U. Leuven [Electrical Engineering (ESAT-SCD), Mechanical Engineering (MECH-PMA), Chemical Engineering (CHEM-BioTec) and Computer Science (CS-NATW)]. OPTEC combines altogether 20 professors, 12 postdocs, and more than 50 PhD students that jointly work on bringing state-of-the-art optimization methods together with real-world engineering applications.
Electronic applications (by holders of at least a masters degree) including a CV, certificates with high school and university marks in mathematics, physics and computer science, a list of publications, names of two possible references, and a brief description of your research interests are most welcome.
Please send them until June 15, 2008 to jobs-at-optec@esat.kuleuven.be.
The motion trajectory design will be based on a framework that was recently developed within OPTEC, and that is a generalization of the work of Kwakernaak and Smit [1]. The basis is a polynomial spline of arbitrary order that is optimized with respect to some performance criteria, and subject to boundary constraints and bounds on the inputs, outputs, and state variables. A careful selection of performance criteria and constraints yields a convex program that can be solved efficiently, allowing us to calculate Pareto-optimal points for these typically multi-criteria optimization problems.
This framework will be further developed to account for system uncertainty (robust design) and large system dynamics changes that are typically described using linear parameter varying (LPV) models. Possibilities for extensions of the current convexity based optimization approaches in order to address fully nonlinear models shall also be investigated.
The emphasis of this project lies on the development of fast and reliable open-source algorithms to optimize these trajectories, the analysis of the trade-off between the different design parameters, e.g. level of continuity of the trajectories, time optimality, level of residual system vibrations, comparison with other existing motion trajectory parametrizations, and experimental validation on a linear motor based pick-and-place machine.
This research will be performed under the joint supervision of Professor Jan Swevers of the division PMA of the Mechanical Engineering Department (http://www.mech.kuleuven.be/pma/) and Professor Moritz Diehl of the division SCD of the Electrical Engineering Departement (http://www.esat.kuleuven.be/scd/). The work will profit from concerted programming efforts within the OPTEC team towards a suite of open-source optimal control software tools.
Candidates for this position (phd or post-doc) shall provide a detailed CV including names of at least two referees. A thorough background in control theory, dynamic optimization, and implementation of numerical algorithms is required. Please indicate your background with respect to these items clearly in your CV. Experience in the practical implementation of controllers is a benefit but not mandatory. However, interest for practical control implementation, programming, and team work is very important.
Contact: Prof. Dr. Moritz Diehl (E-mail: moritz.diehl@esat.kuleuven.be)
Besides a competitive salary we offer a stimulating research environment within our young but growing "Center of Excellence on Optimization in Engineering", or OPTEC. OPTEC is well connected internationally with several high ranking international visitors every month, and encompasses groups from four different departments of K.U. Leuven [Electrical Engineering (ESAT-SCD), Mechanical Engineering (MECH-PMA), Chemical Engineering (CHEM-BioTec) and Computer Science (CS-NATW)]. OPTEC combines altogether 20 professors, 12 postdocs, and more than 50 PhD students that jointly work on bringing state-of-the-art optimization methods together with real-world engineering applications.
Electronic applications (by holders of at least a masters degree) including a CV, certificates with high school and university marks in mathematics, physics and computer science, a list of publications, names of two possible references, and a brief description of your research interests are most welcome.
Please send them until June 15, 2008 to jobs-at-optec@esat.kuleuven.be.