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Proceedings Papers

Blade Control for Surface Profile Tracking by Heavy-Duty Bulldozers

Teemu Mononen, Jouni Mattila, Antti Kolu

Proc. ASME. FPMC2021, ASME/BATH 2021 Symposium on Fluid Power and Motion Control, V001T01A017, October 19–21, 2021

Paper No: FPMC2021-68656

DOI: https://doi.org/10.1115/FPMC2021-68656

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Topics: Blades, Manipulators, Actuators, Errors, Automatic control, Control equipment, Dynamics (Mechanics), Inertia (Mechanics), Kalman filters, Kinematics

Proceedings Papers

Model-Based Control of a Mobile Platform With Independently Controlled In-Wheel Hydraulic Motors

Lionel Hulttinen, Jouni Mattila

Proc. ASME. FPMC2021, ASME/BATH 2021 Symposium on Fluid Power and Motion Control, V001T01A001, October 19–21, 2021

Paper No: FPMC2021-66665

DOI: https://doi.org/10.1115/FPMC2021-66665

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Topics: Hydraulic motors, Wheels, Control equipment, Design, Vehicles, Dynamics (Mechanics), Feedback, Hydraulic drive systems, Machinery, Mobile robots

Proceedings Papers

Modelling of Hydraulic Forest Boom Tip Acceleration Control to Counterbalance the Gravitational Load Force in Horizontal Timber Cutting

Juha Inberg, Jouni Mattila, Tapio Virvalo

Proc. ASME. IMECE2001, Fluid Power Systems and Technology, 25-32, November 11–16, 2001

Paper No: IMECE2001/FPST-25003

DOI: https://doi.org/10.1115/IMECE2001/FPST-25003

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Topics: Cutting, Modeling, Stress, Timber, Damage, Hydraulics, Control systems, Design, Dynamics (Mechanics), Gravity (Force)

Proceedings Papers

High-Level Controller for High Productivity Earthmoving by Tracked Bulldozers

Teemu Mononen, Jouni Mattila, Mohammad M. Aref

Proc. ASME. FPMC2020, BATH/ASME 2020 Symposium on Fluid Power and Motion Control, V001T01A022, September 9–11, 2020

Paper No: FPMC2020-2749

DOI: https://doi.org/10.1115/FPMC2020-2749

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Topics: Control equipment, Blades, Machinery, Soil, Signals, Stress, Traction

Proceedings Papers

Parameter Identification for Model-Based Control of Hydraulically Actuated Open-Chain Manipulators

Lionel Hulttinen, Janne Koivumäki, Jouni Mattila

Proc. ASME. FPMC2019, ASME/BATH 2019 Symposium on Fluid Power and Motion Control, V001T01A026, October 7–9, 2019

Paper No: FPMC2019-1656

DOI: https://doi.org/10.1115/FPMC2019-1656

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Topics: Chain, Manipulators, Actuators, Control equipment, Cylinders, Design, Hydraulic cylinders, Industrial plants, Pressure, Vacuum

Proceedings Papers

Nonlinear Model-Based Control Design for a Hydraulically Actuated Spherical Wrist

Pauli Mustalahti, Jouni Mattila

Proc. ASME. FPMC2019, ASME/BATH 2019 Symposium on Fluid Power and Motion Control, V001T01A027, October 7–9, 2019

Paper No: FPMC2019-1663

DOI: https://doi.org/10.1115/FPMC2019-1663

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Topics: Design, Manipulators, Control equipment, Actuators, Stress, Degrees of freedom, Dynamics (Mechanics), Mining, Offshore structures, Stability

Proceedings Papers

Model-Based Control of a Pressure-Compensated Directional Valve With Significant Dead-Zone

Santeri Lampinen, Janne Koivumäki, Jouni Mattila, Jouni Niemi

Proc. ASME. FPMC2019, ASME/BATH 2019 Symposium on Fluid Power and Motion Control, V001T01A028, October 7–9, 2019

Paper No: FPMC2019-1664

DOI: https://doi.org/10.1115/FPMC2019-1664

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Topics: Pressure, Valves, Manipulators, Design, Dynamics (Mechanics), Hydraulic drive systems, Stress

Proceedings Papers

Addressing Closed-Chain Dynamics for High-Precision Control of Hydraulic Cylinder Actuated Manipulators

Janne Koivumäki, Wen-Hong Zhu, Jouni Mattila

Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A018, September 12–14, 2018

Paper No: FPMC2018-8839

DOI: https://doi.org/10.1115/FPMC2018-8839

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Topics: Chain, Dynamics (Mechanics), Hydraulic cylinders, Manipulators, Approximation, Articulated systems, Cylinders, Modeling, Nonlinear dynamics, Stress

Proceedings Papers

Direct Position Control of Electro-Hydraulic Excavator

Siavash Danaee, Jarmo Nurmi, Tatiana Minav, Jouni Mattila, Matti Pietola

Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A049, September 12–14, 2018

Paper No: FPMC2018-8896

DOI: https://doi.org/10.1115/FPMC2018-8896

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Topics: Position control, Trenching machinery, Hydraulic drive systems, Hydraulics, Sensors, Cycles, Energy efficiency, Errors, Manufacturing, Simulation

Proceedings Papers

Nonlinear Model-Based Controller Design for a Hydraulic Rack and Pinion Gear Actuator

Pauli Mustalahti, Jouni Mattila

Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A020, September 12–14, 2018

Paper No: FPMC2018-8841

DOI: https://doi.org/10.1115/FPMC2018-8841

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Topics: Actuators, Control equipment, Design, Gears, Manipulators, Stress, Dynamics (Mechanics), Friction, Inertia (Mechanics), Rotation

Proceedings Papers

Bilateral Teleoperation of a Hydraulic Robotic Manipulator in Contact With Physical and Virtual Constraints

Santeri Lampinen, Janne Koivumäki, Jouni Mattila

Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A021, September 12–14, 2018

Paper No: FPMC2018-8842

DOI: https://doi.org/10.1115/FPMC2018-8842

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Topics: Manipulators, Dynamics (Mechanics), Control equipment, Control theory, Degrees of freedom, Hydraulic drive systems, Vacuum

Proceedings Papers

Floating Frame of Reference Formulation for a Flexible Manipulator With Hydraulic Actuation: Modelling and Experimental Validation

Petri Mäkinen, Oleg Dmitrochenko, Jouni Mattila

Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A022, September 12–14, 2018

Paper No: FPMC2018-8846

DOI: https://doi.org/10.1115/FPMC2018-8846

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Topics: Flexible manipulators, Modeling, Manipulators, Dynamics (Mechanics), Weight (Mass), Actuators, Composite materials, Design, Engineering simulation, Fuels

Proceedings Papers

A Neural Network Strategy for Learning of Nonlinearities Toward Feed-Forward Control of Pressure-Compensated Hydraulic Valves With a Significant Dead Zone

Jarmo Nurmi, Mohammad M. Aref, Jouni Mattila

Proc. ASME. FPMC2018, BATH/ASME 2018 Symposium on Fluid Power and Motion Control, V001T01A023, September 12–14, 2018

Paper No: FPMC2018-8847

DOI: https://doi.org/10.1115/FPMC2018-8847

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Topics: Artificial neural networks, Feedforward control, Pressure, Valves, Manipulators, Actuators, Brain, Signals, Simulation results

Proceedings Papers

Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures

Janne Koivumäki, Jouni Mattila, Claudio Semini, Darwin G. Caldwell

Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A030, October 16–19, 2017

Paper No: FPMC2017-4261

DOI: https://doi.org/10.1115/FPMC2017-4261

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Topics: Lightweight structures, Stability, Control equipment, Design, Manipulators, Robotics, Friction, Inertia (Mechanics), Weight (Mass), Actuators

Proceedings Papers

Stability-Guaranteed Anti-Sway Controller Design for a Redundant Articulated Hydraulic Manipulator in the Vertical Plane

Pauli Mustalahti, Janne Koivumäki, Jouni Mattila

Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A031, October 16–19, 2017

Paper No: FPMC2017-4263

DOI: https://doi.org/10.1115/FPMC2017-4263

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Topics: Control equipment, Design, Manipulators, Stability, Stress, Degrees of freedom, Grasping, Redundant manipulators, Vacuum

Proceedings Papers

Modeling and Simulation of a Hydraulic Drill for Control System Design Purposes

Suvi Peltokangas, Sirpa Launis, Markus Saarela, Jouni Mattila

Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A045, October 16–19, 2017

Paper No: FPMC2017-4290

DOI: https://doi.org/10.1115/FPMC2017-4290

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Topics: Control systems, Design, Drills (Tools), Modeling, Simulation, Rocks, Drilling, Rotation, Actuators, Bits (Tools)

Proceedings Papers

Finite Element-Based Control of a Single-Link Flexible Hydraulic Manipulator

Petri Mäkinen, Jouni Mattila

Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A032, October 16–19, 2017

Paper No: FPMC2017-4264

DOI: https://doi.org/10.1115/FPMC2017-4264

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Topics: Actuators, Control equipment, Design, Dynamics (Mechanics), Flexible manipulators, Fluid dynamics, Hydraulic cylinders, Manipulators, Stability, Vibration suppression

Proceedings Papers

On-Line Path Planning With Collision Avoidance for Coordinate-Controlled Robotic Manipulators

Tuomo Kivelä, Jouni Mattila, Jussi Puura, Sirpa Launis

Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A048, October 16–19, 2017

Paper No: FPMC2017-4297

DOI: https://doi.org/10.1115/FPMC2017-4297

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Topics: Collisions (Physics), Manipulators, Path planning, Control systems, Motion control, Risk, Trajectories (Physics), Degrees of freedom, End effectors, Monitoring systems

Proceedings Papers

Automated Feed-Forward Learning for Pressure-Compensated Mobile Hydraulic Valves With Significant Dead-Zone

Jarmo Nurmi, Jouni Mattila

Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A027, October 16–19, 2017

Paper No: FPMC2017-4258

DOI: https://doi.org/10.1115/FPMC2017-4258

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Topics: Feedforward control, Pressure, Valves, Manipulators, Feedback, Motion control, Errors, Hydraulic actuators, Machinery, Robotics

Journal Articles

Adaptive and Nonlinear Control of Discharge Pressure for Variable Displacement Axial Piston Pumps

Janne Koivumäki, Jouni Mattila

J. Dyn. Sys., Meas., Control. October 2017, 139(10): 101008.

Paper No: DS-16-1188

DOI: https://doi.org/10.1115/1.4036537

Published Online: June 28, 2017

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Topics: Adaptive control, Design, Pistons, Pressure, Stability, Control equipment, Pumps, Dynamics (Mechanics), Stress, Fluid dynamics

Journal citation

NARROW

Blade Control for Surface Profile Tracking by Heavy-Duty Bulldozers

Model-Based Control of a Mobile Platform With Independently Controlled In-Wheel Hydraulic Motors

Modelling of Hydraulic Forest Boom Tip Acceleration Control to Counterbalance the Gravitational Load Force in Horizontal Timber Cutting

High-Level Controller for High Productivity Earthmoving by Tracked Bulldozers

Parameter Identification for Model-Based Control of Hydraulically Actuated Open-Chain Manipulators

Nonlinear Model-Based Control Design for a Hydraulically Actuated Spherical Wrist

Model-Based Control of a Pressure-Compensated Directional Valve With Significant Dead-Zone

Addressing Closed-Chain Dynamics for High-Precision Control of Hydraulic Cylinder Actuated Manipulators

Direct Position Control of Electro-Hydraulic Excavator

Nonlinear Model-Based Controller Design for a Hydraulic Rack and Pinion Gear Actuator

Bilateral Teleoperation of a Hydraulic Robotic Manipulator in Contact With Physical and Virtual Constraints

Floating Frame of Reference Formulation for a Flexible Manipulator With Hydraulic Actuation: Modelling and Experimental Validation

A Neural Network Strategy for Learning of Nonlinearities Toward Feed-Forward Control of Pressure-Compensated Hydraulic Valves With a Significant Dead Zone

Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures

Stability-Guaranteed Anti-Sway Controller Design for a Redundant Articulated Hydraulic Manipulator in the Vertical Plane

Modeling and Simulation of a Hydraulic Drill for Control System Design Purposes

Finite Element-Based Control of a Single-Link Flexible Hydraulic Manipulator

On-Line Path Planning With Collision Avoidance for Coordinate-Controlled Robotic Manipulators

Automated Feed-Forward Learning for Pressure-Compensated Mobile Hydraulic Valves With Significant Dead-Zone

Adaptive and Nonlinear Control of Discharge Pressure for Variable Displacement Axial Piston Pumps

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