Stefan Bracher

Université de Sherbrooke (University of Sherbrooke), Education, Graduate Student

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Having a Bachelor's and a Master's degree in mechanical engineering (Swiss Federal Institute of Technology, École Polytechnique de Montréal), Stefan worked in the fields of control system automation and robotics. Since 2012, he is teaching physics at Vanier College in Montreal, Canada. Currently, Stefan is working on a masters in education, trying to figure out why students struggle so much in mechanics.

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Nanoscale computing and actuators, for potential use in Nanobots

When speaking about Nanotechnology, most people think about Nanobots. The idea of inserting small... more When speaking about Nanotechnology, most people think about Nanobots. The idea of inserting small devices inside our body has fascinated scientists as well as science fiction writers. But how far are we in the development of these Nanobots? After a short introduction, this paper will present four different types of actuators, that could be used for Nanobots. This is followed by a discussion of how the Nanobots could be controlled. Part four deals with devices to build the necessary control-logic and in the end there will be a conclusion section. 1 Table of Content

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Control of the Mascarillon robot: a 4-DOF, cube- shaped flying robot

Three different types of controllers, fuzzy control, sliding mode control and pre-calculated coup... more Three different types of controllers, fuzzy control, sliding mode control and pre-calculated couple control, have been developed and implemented on a 4 degree of freedom flying robot called “Mascarillon”. Two of the three modes are designed to be adaptive, in order to account for the non-linear and changing dynamics of the robot. This paper presents the different controllers and shows a performance comparison, based on experimental results.

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Rotating Table with Parallel Kinematic Featuring a Planar Joint

In order to develop a rotating table that can be mounted on an existing milling machine and allow... more In order to develop a rotating table that can be mounted on an existing milling machine and allows operation at high speed, a geometry with two parallel kinematic chains, of which one contains a planar joint, connecting the base to the end-effector, is proposed.1 The kinematic performances are developed and singularities identified. Computation of the workspace shows that it allows almost all tool vectors that origin from above the table surface and does not include any of the singularities or unstable orientations of the geometry.

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Mec6313 Commande robuste des systèmes dynamiques Semester Project Mec6313 Semester Project Control of Biological Systems

Mec6313 Commande robuste des systèmes dynamiques Semester Project Abstract: Biological systems us... more Mec6313 Commande robuste des systèmes dynamiques Semester Project Abstract: Biological systems usually have highly non-linear system dynamics. One approach to solve the control problem of such systems is to linearize them around one or multiple operation points, regard possible changes from these points as uncertainties and use appropriate matrix inequality (LMI) theorems to compute the controller gains. In this report, a short literature review is provided, followed by a practical example of a bio-reactor, where bacteria are used to transform a substrate into a product.

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Control of the Mascarillon robot: a 4-DOF, cube- shaped flying robot

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Control of Biological Systems

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Control of Biological Systems

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Rotating Table with Parallel Kinematic Featuring a Planar Joint

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Stefan Bracher

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