Dr. Martin v. Mohrenschildt


	Departmental Chair Associate Professor Dr. sc. math. ETH., Dipl. math. ETH., P.Eng. Computing and Software Faculty of Engineering McMaster University Phone: (905) 525-9140 ex. 23844 Office: ITB 202B E-Mail: mohrens@mcmaster.ca FAX: (905) 521-2922

Research Interests

Model Predictive Control

The objective in control is to determine inputs to a system such that the outputs exhibit the desired behavior. In practice the input can not be chosen entirely freely but has to satisfy constraints. Many different control strategies have been developed to solve this problem including control strategies for hybrid systems. In situations where optimal operation is at an extremum of the constraint set or the process is nonlinear one single control strategy can not satisfy all objectives over the entire runtime of the system and it is difficult to handle constraints with some control strategies. To overcome these problems we propose a control algorithm that combines several different control strategies into one controller.

Hybrid Systems

In engineering mathematics discontinuities appear in many equations. Based on our theory for closed form solutions of differential equations with piecewise coefficients or perturbation, we perform further research on the theoretical and computational aspect of piecewise functions.

MathScheme

MathScheme is a project to develop a new approach to mechanized mathematics in which computer algebra and computer theorem proving are merged without sacrificing power or soundness. The first goal of the project is to develop a formal framework that integrates and generalizes symbolic computation and formal deduction. The second project goal is to design and implement a microkernel of a mechanized mathematics system based on the integrated framework. The long-range goal is to build, on top of the microkernel, an interactive mathematics laboratory that provides an integrated set of tools for facilitating and managing mathematical reasoning. The MathScheme home page

Motion Simulator Laboratory

The newly created Motion Simulator Laboratory houses our simulator. The mini-van-sized simulator can accommodate up to five people and features a space-ship-pod fiberglass shell, interior projection system and a Dolby digital surround-sound system. It sits on a Moog-built, six-degrees-of-freedom (surge, sway, heave, roll, pitch, yaw), Steward platform with a 1,000 kg (2,205 pound) payload and 0.6 Gs of acceleration (equivalent to a high-performance sports car). The lab is used for undergraduate capstone design projects in the Software Engineering and Game Design Program.

Embedded Systems Laboratory

The Embedded Systems Laboratory is equipped to study different mechatronics devices (two robots, two XYZ-tables, an industrial conveyor belt) and has a fully equipped electronics workplace (4 channel scope, function generator, two precision multi-meters, a micro controller programmer, e.t.c). Several interesting projects were done over the last years including the hardware and software for an alternative fuel injection controller for a Ford Crown Victoria (V8, 6.8L).

Teaching

SFWR ENG 2MX3 (08/09) information is here

Selected Publications

M. v. Mohrenschildt, (2005), "A Hybrid Controller for a Nonholonomic Car-like Robot", International Conference on informatics in Control, Automation and Robotics, ICINCO 2005, September (14-17) in Barcelona/Spain.

M. v. Mohrenschildt, (2005), "Model Predictive Traces", Journal of Software Engineering and Knowledge Engineering, Special Issue: Selected Papers from the 2005 International Conference on Embedded and Hybrid Systems, Vol. 15, No. 2 (April 2005), 289-298.

M. v. Mohrenschildt, (2005), "Model Predictive Traces in Hybrid Systems", International Conference on Hybrid Systems, IEHSC'05

W. M. Farmer, M. v. Mohrenschildt, (2004), "Simple Type Theory: Simple Steps towards a formal Specification", In the Proceedings of the FIE 2004.

W. M. Farmer, M. v. Mohrenschildt, (2003), "A Formal Framework for Managing Mathematics", Annals of Mathematics and Artificial Intelligence, May 2003, Volume 38, Issue 1-3, pp. 165-191

N. Nedialkov, M. v. Mohrenschildt (2002), "Rigorous Simulation of Hybrid Dynamic Systems with Symbolic and Interval Methods", ACC 2002, 7 pages. PDF

M. v. Mohrenschildt (2001), "Symbolic Verification of Hybrid Systems: An Algebraic Approach", European Journal of Control, Vol 7, Num 5, 2001 pp: 541-556. PDF

W. M. Farmer and M. v. Mohrenschildt, (2001), "A formal framework for managing mathematics", Electronic Proceedings of the First International Workshop on Mathematical Knowledge Management: MKM'2001, 38 pp., RISC, Hagenburg, Austria, September 24-26, 2001.

W. M. Farmer, M. v. Mohrenschildt (2000), "Transformers for Symbolic Computation and Formal Deduction", , Proceedings of the Workshop on the Role of Automated Deduction in Mathematics, pp. 36-45, CADE-17, Carnegie Mellon University, Pittsburgh, Pennsylvania, June 20-21, 2000.

M. v. Mohrenschildt, (2000), "Hybrid Differential Equations and Hybrid Systems", SCI'2000/ISAS'2000.

M. v. Mohrenschildt, (2000), "Hybrid Systems: Solutions, Stability, Control", ACC 2000, 692-698

M. v. Mohrenschildt, (1999), "Algebra of Normal Function Tables ", "Formal Aspects of Computing", 12(1):41-51, (2000).

M. v. Mohrenschildt, (1999) "Symbolic Verification of Hybrid Systems", In the proceedings of IMACS/IEEE 99 Athens, July 4 - 8, 1999, pp 1511-1519 also in Software and Hardware Engineering for the 21th Century, World Scientific Engineering Society (1999).

M. v. Mohrenschildt, (1998) "A Normal Form for Rings of Piecewise Functions", Journal of Symbolic Computation(1998) 26(5), 607-619 PDF

M. v. Mohrenschildt, "Using Piecewise to Solve Classes of Control Theory Problems", MapleTech97, Vol .4, No. 3, pp. 33-3

M. v. Mohrenschildt, D. Peters, The Draw-Bot: A software Engineering Project (1998) In the proceedings of the Frontiers of Engineering Education FIE98

M. v. Mohrenschildt, The Maze Tracing Robot, Technical Report 1998, PDF

D.J. Jeffrey, G. Labahn, M. v. Mohrenschildt, A.D. Rich (1997) Integration of signum, piecewise and related functions. In proceedings ISSAC 97, 324-330.

M. v. Mohrenschildt, (1999), "Communicating Software Specifications using XML: OpenSpec", CRL REPORT 373

M. v. Mohrenschildt, (1997) "Closed Form Solutions of Hybrid Systems", CRL Report 371, Feb 1999

M. v. Mohrenschildt, (1997) "Algebra of Normal Functions Tables", CRL Report 315, McMaster University, NSERC, CRL, May 1997