A. Galip Ulsoy

University of Michigan, Mechanical Engineering, Emeritus

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C.D. Mote, Jr. Distinguished University Professor Emeritus of Mechanical Engineering and William Clay Ford Professor Emeritus of Manufacturing at University of Michigan, Ann Arbor.
Phone: +1-734-936-0407
Address: 2450 GG Brown Bulding
2350 Hayward Street
Ann Arbor, MI 48109-2125
USA

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Books by A. Galip Ulsoy

Process Control for Sheet-Metal Stamping

Process Control for Sheet-Metal Stamping presents a comprehensive and structured approach to the ... more

Automotive Control Systems

This engineering textbook is designed to introduce advanced control systems for vehicles, includi... more This engineering textbook is designed to introduce advanced control systems for vehicles, including advanced automotive concepts and the next generation of vehicles for ITS. For each automotive control problem considered, the authors emphasize the physics and underlying principles behind the control system concept and design. This is an exciting and rapidly developing field for which many articles and reports exist but no modern unifying text. An extensive list of references is provided at the end of each chapter for all the topics covered. It is currently the only textbook, including problems and examples, that that covers and integrates the topics of automotive powertrain control, vehicle control, and intelligent transportation systems. The emphasis is on fundamental concepts and methods for automotive control systems, rather than the rapidly changing specific technologies. Many of the text examples, as well as the end-of-chapter problems, require the use of MATLAB and/or SIMULINK.

Time Delay Systems

Microcomputer Applications in Manufacturing

Microcomputer Applications in Manufacturing is the outgrowth of notes written for a course of the... more Microcomputer Applications in Manufacturing is the outgrowth of notes written for a course of the same name taught in the Department of Mechanical Engineering and Applied Mechanics at the University of Michigan since 1980 . The course is designed for students in mechanical engineering at the senior or first-year graduate level with an interest in manufacturing. It is intended to provide a foundation in the real-time application of microcomputer systems to problems in manufacturing. The book should also prove to be a useful reference for practicing engineers interested in manufacturing automation.

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Papers by A. Galip Ulsoy

Spectrum design using distributed delay

International Journal of Dynamics and Control, 2014

This paper focuses on the problem of designing the rightmost eigenvalues of linear scalar distrib... more This paper focuses on the problem of designing the rightmost eigenvalues of linear scalar distributed delay systems. We consider two different but complementary methods: generalized stability charts and matrix Lambert W functions. The generalized stability charts are based on the intersection of Hopf and fold surfaces that provide important insight into the problem, but the geometry of the surfaces may become complicated for certain delay distributions. The Lambert W function approach can be applied to general delay distributions, but requires numerical solutions which can suffer from convergence problems. We present some examples using both approaches.

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The coupled modeling and robust control design problem

[1992] Proceedings of the 31st IEEE Conference on Decision and Control, 1992

Abstract A formulation of the coupled modeling and robust control design problem is presented. Th... more Abstract A formulation of the coupled modeling and robust control design problem is presented. The distinguishing feature is the treatment of the control design model as a degree of design freedom. A simple example highlights the potential improvement in closed-loop performance under the coupled approach. Quantification of the strength of the coupling in terms of performance boundaries is also described

Equipment and Material Flow Control

Advances in Industrial Control, 2013

Direct and Indirect Adaptive Process Control

Advances in Industrial Control, 2013

Improving Stability Margins via Time Delay Control

Volume 7B: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, 2013

Model-based tool wear estimation in metal cutting

http://deepblue.lib.umich.edu/bitstream/2027.42/8037/5/bad4310.0001.001.pdf http://deepblue.lib.u... more

Simulation of flexible structures with impact: Experimental validation

The simulation of the dynamic behavior of flexible structures with impact, is experimentally and ... more The simulation of the dynamic behavior of flexible structures with impact, is experimentally and numerically investigated. A radially rotating flexible beam attached to a rigid shaft is considered. Both experimental and numerical studies are undertaken. Experimental studies how excellent agreement with simulation studies using both the momentum balance (coefficient of friction), and spring-dashpot (impact pair) models. The simulation studies are even capable of predicting the high-speed multiple impacts which occur due to structural flexibility and which are experimentally observed using high-speed video photography. The results of the studies show that a simple momentum balance (coefficient of restitution) method for simulating the impact is sufficiently accurate in predicting the dynamic behavior of the system for most engineering applications. The momentum balance method cannot simulate the impact force which develops during the contact duration, but is computationally very effic...

1. Katz, R., Lee, C.W., Ulsoy, A.G. and Scott, R.A., "The Dynamic Response of a Rotating Shaft Subject to a Moving Load", Journal of Sound and Vibration, 122 (1), pp. 131-148, 1988

Journal of Sound and Vibration

Identification of a nonlinear driver model via NARMAX modeling

Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000

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Statistical Analysis of a Steering Assist Controller Using Driving Simulator Data

Dynamic Systems and Control, Parts A and B, 2005

Human-in-the-loop driving simulator experiments are conducted to evaluate a proposed robust steer... more Human-in-the-loop driving simulator experiments are conducted to evaluate a proposed robust steering assist controller designed based upon driver uncertainty modeling. A nominal controller that is designed without consideration of driver model uncertainty is also tested for comparison. Two types of experiments are proposed. A long driving task with nominal configurations and a short driving task with initially large lateral position error. The data is analyzed using both time domain and frequency domain metrics. In the time ...

Robust adaptive sinusoidal disturbance rejection in linear continuous-time systems

Proceedings of the 36th IEEE Conference on Decision and Control, 1997

Abstract The performance robustness of a control system, designed to reject sinusoidal disturbanc... more Abstract The performance robustness of a control system, designed to reject sinusoidal disturbance inputs with unknown properties, in the face of uncertainties in the plant coprime factor representation is analyzed. The robustness problem is treated both in the case of off-line controller design, where the controller is numerically designed based on values of the disturbance input (as opposed to a model of the disturbance), and in the case of online (adaptive) controller design. Conditions are given in both cases for robust regulation to be ...

Comprehensive, Modular Machine Tool Servomechanism Simulation

Chatter Stability Analysis Using the Matrix Lambert Function and Bifurcation Analysis

Manufacturing Science and Engineering, Parts A and B, 2006

We investigate the stability of the regenerative machine tool chatter problem, in a turning proce... more We investigate the stability of the regenerative machine tool chatter problem, in a turning process modeled using delay differential equations (DDEs). An approach using the matrix Lambert function for the analytical solution to systems of delay differential equations is applied to this problem and compared with the result obtained using a bifurcation analysis. The Lambert function, known to be useful for solving scalar first order DDEs, has recently been extended to a matrix Lambert function approach to solve systems of DDEs. The essential advantage of the matrix Lambert approach is not only the similarity to the concept of the state transition matrix in linear ordinary differential equations, enabling its use for general classes of linear delay differential equations, but also the observation that we need only the principal branch among an infinite number of roots to determine the stability of a system of DDEs. The bifurcation method combined with Sturm sequences provides an algorithm for determining the stability of DDEs without restrictive geometric analysis. With this approach, one can obtain the critical values of delay which determine the stability of a system and hence the preferred operating spindle speed without chatter. We apply both the matrix Lambert function and the bifurcation analysis approach to the problem of chatter stability in turning, and compare the results obtained to existing methods. The two new approaches show excellent accuracy, and certain other advantages, when compared to traditional graphical, computational and approximate methods.

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Driver model uncertainty

Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251), 1999

Abstract Presents a preliminary investigation of the modeling of driver uncertainty. A linear sec... more

An open architecture testbed for real-time monitoring and control of machining processes

Proceedings of 1995 American Control Conference - ACC'95, 1995

This paper presents an open architecture controller (OAC) for machining systems and describes the... more This paper presents an open architecture controller (OAC) for machining systems and describes the OAC testbed at the University of Michigan. Because our OAC is designed for fully open systems, it does not depend on any speci c hardware or software components. This openness includes software reusability which enables integration of a wide range of monitoring and control features. In addition to openness, our OAC system provides guaranteed real-time performance, an important requirement for advanced manufacturing. Abstract Machine Abstract Machine Abstract Machine Function Module Function Module

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Critical issues in development of open architecture controllers

Abstract: Open-Architecture Control Systems allow easy integration of control system that their e... more Abstract: Open-Architecture Control Systems allow easy integration of control system that their elements supplied by multiple vendors. The driver behind open architecture is obtaining enhanced system performance at affordable cost. The University of Michigan started a project on open-architecture in 1988. This paper offers a short description of the project, and summarizes the impact of this new technology on the equipment supplier industry (control vendors and machine builders) and the end users of this technology.

Process Control for Sheet-Metal Stamping

Process Control for Sheet-Metal Stamping presents a comprehensive and structured approach to the ... more

Automotive Control Systems

Time Delay Systems

Microcomputer Applications in Manufacturing

Download

Spectrum design using distributed delay

International Journal of Dynamics and Control, 2014

Download

The coupled modeling and robust control design problem

[1992] Proceedings of the 31st IEEE Conference on Decision and Control, 1992

Equipment and Material Flow Control

Advances in Industrial Control, 2013

Direct and Indirect Adaptive Process Control

Advances in Industrial Control, 2013

Improving Stability Margins via Time Delay Control

Volume 7B: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, 2013

Model-based tool wear estimation in metal cutting

http://deepblue.lib.umich.edu/bitstream/2027.42/8037/5/bad4310.0001.001.pdf http://deepblue.lib.u... more

Simulation of flexible structures with impact: Experimental validation

1. Katz, R., Lee, C.W., Ulsoy, A.G. and Scott, R.A., "The Dynamic Response of a Rotating Shaft Subject to a Moving Load", Journal of Sound and Vibration, 122 (1), pp. 131-148, 1988

Journal of Sound and Vibration

Identification of a nonlinear driver model via NARMAX modeling

Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000

Download

Statistical Analysis of a Steering Assist Controller Using Driving Simulator Data

Dynamic Systems and Control, Parts A and B, 2005

Robust adaptive sinusoidal disturbance rejection in linear continuous-time systems

Proceedings of the 36th IEEE Conference on Decision and Control, 1997

Comprehensive, Modular Machine Tool Servomechanism Simulation

Chatter Stability Analysis Using the Matrix Lambert Function and Bifurcation Analysis

Manufacturing Science and Engineering, Parts A and B, 2006

Download

Driver model uncertainty

Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251), 1999

Abstract Presents a preliminary investigation of the modeling of driver uncertainty. A linear sec... more

An open architecture testbed for real-time monitoring and control of machining processes

Proceedings of 1995 American Control Conference - ACC'95, 1995

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Critical issues in development of open architecture controllers

Integrated plant, observer, and controller optimization with application to combined passive/active automotive suspensions

The plant and control optimization problems are coupled in the sense that solving them sequential... more The plant and control optimization problems are coupled in the sense that solving them sequentially does not guarantee system optimality. This paper extends previous studies of this coupling by relaxing their assumption of full state measurement availability. An original derivation of first-order necessary conditions for plant, observer, controller, and combined optimality furnishes coupling terms quantifying the underlying trilateral coupling. Special scenarios where the problems decouple are pinpointed, and a nested optimization strategy that guarantees system optimality is adopted otherwise. Applying these results to combined passive/active car suspension optimization produces a suspension design outperforming its passive, active, and sequentially optimized passive/active counterparts.

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Optimal capacity management with stochastic market demand and imperfect information

Over-capacity has been a major problem in the world economy over the past decade. Reconfigurable ... more Over-capacity has been a major problem in the world economy over the past decade. Reconfigurable capacity, and optimal capacity management policies, can contribute to increased economic stability. This research introduces a new approach to optimal capacity management for a firm faced with uncertainties and imperfect information of the market demand. It presents an optimal policy for the capacity management problem in a firm facing stochastic market demand, based on Markov decision theory. To make the approach more ...

Self-reproducing machines: Preventing degeneracy

Machines produced by humans exhibit insufficient complexity to produce similar machines. As John ... more Machines produced by humans exhibit insufficient complexity to produce similar machines. As John von Neumann originally postulated, if biological systems are able to successfully reproduce, then there must be some characteristic that we can embed in machines to give them the ability to reproduce. Such a self-reproductive machine, also imbued with the ability to do constructive work, could prove enormously useful to the human race. This paper considers a simple selfreproducing machine, which consists of a 2-DOF, planar robot arm capable of picking up and placing the components of another arm. If the robot places the components within the allowable tolerance, then the original arm has successfully reproduced. An assembly line is constructed, so that a selfreproduction process can proceed along a track. If this process eventually fails because one robot is not capable of assembling another, then the system is said to be degenerate. Otherwise, the system is sustainable.

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A passive-assist design approach for improved reliability and efficiency of robot arms

The purpose of this paper is to examine a passive-assist design approach for improving the perfor... more The purpose of this paper is to examine a passive-assist design approach for improving the performance of robot arms and unmanned ground vehicles (UGVs) with respect to reliability, utility, and efficiency. Specifically, a procedure that alters the mechanical design of a robot arm to incorporate springs optimized to reduce the maximum motor torque, or energy, required to perform a specified maneuver is proposed. By reducing the maximum motor torque required, the reliability and utility of the motors (and by extension the entire UGV) are increased. Our joint model includes both a non-backdrivable worm gear and a static DC motor. Initial results for a one link arm indicate that this procedure can reduce maximum required torque by 50.9% and energy consumed by 8.5%.

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A. Galip Ulsoy

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