Tegoeh Tjahjowidodo

Tegoeh Tjahjowidodo
Assistant Professor
Tel: 6790 4952
Email: ttegoeh@ntu.edu.sg
Office: N3-02c-68 
  • PhD (Mech Engrg) Catholic University of Leuven 2006
  • MEng (Mech Engrg) Institute of Technology, Bandung 1999
  • BEng (Mech Engrg) Institute of Technology, Bandung 1996

Tegoeh Tjahjowidodo is currently an assistant professor at the School of Mechanical & Aerospace Engineering since November 2009. He received the Ph.D. degree in mechatronics from the Katholieke Universiteit Leuven, Belgium, in 2006. Prior to joining NTU, he gained some experiences industrial area with the Flanders’ Mechatronics Technology Center, Belgium. His research interests include nonlinear dynamics, modeling, identification and control.

  • Interest:
    Mechatronics, Control, Monitoring, Intelligent Manufacturing.
  • Projects:
    Force Control Study for Remanufacturing Processes
    Force control capability is an essential requirement for interaction tasks. Many industrial robots are equipped with dedicated force control devices attached to the end-effector of the robots. Although this approach has been realized in many industrial robots, there are still some limitations in the application.
    The project aims to develop a methodology for selection of commercially available around-the-arm force control devices appropriate for various machining (finishing) processes and tools.
    [Rolls-Royce, Robotics & Automation]
    Hand Finishing Study for Remanufacturing Processes
    Hand finishing operations play an important role in the service and maintenance of aerospace components. However, there will be variations in the results achieved, which are influenced by the condition of the tools, the different levels of operator skills and the fatigue factor. In order to minimize the variation, selection of the hand finishing processes and tools has to respect various considerations.
    The project aims to study and identify hand polishing processes required for component reconditioning, which will result in reduced number of preferred consumable materials, improved repair consistency and improved practice for the hand dressing and blending.
    [Rolls-Royce, Robotics & Automation]
    Nonlinearly Enhanced Flow-Induced-Vibration System Energy Generator
    A flow-induced-vibration based energy converter is one among a few economical clean energy sources to answer the demand of the energy alternative. Any vibration structures achieve maximum amplitude of oscillation when the systems are excited at the vicinity of their (linear) resonance frequency. Slight deviation from the resonance frequency still allows the phenomenon.
    This project focuses on the enhancement and optimization of a flow-induced-vibration energy generator through nonlinear structures.
    [Mechatronics Lab, Robotics & Automation]
    Real Time Exhaust Gas Monitoring System for Compliance to SOx-NOx Regulation
    The aim of this project is to develop an integrated data acquisition system for real time ship exhaust gas monitoring for compliance to SOx and NOx regulations and CO2 footprint that will be required for future emission trading. The integrated data acquisition system is a computer-based system consists mainly of a number of sensors able to withstand harsh marine environment to monitor parameters relevant to the calculation of ship atmospheric emissions. The system will comprise data acquisition system, data processing programme, data recording system, global positioning system and data transmission system.
    [ERI@N, Robotics & Automation]
    In-Process Sensing of Indirect Surface Quality Measurement in Remanufacturing Processes
    In many engineering applications nowadays, particularly in aerospace industries, dimension of some critical components are specified with very tight design tolerances. Mechanical defects on the components need urgent finishing processes. In the process, high dimensional accuracy normally dictates conservative manual finishing conditions, which on the contrary leads to more cycle time, more pre- and post-process inspection. Collectively, all of these effects can directly cause a significant reduction in the reconditioning processes. Manufacturers are in need for the ability to closely monitor and control the performance of the finishing process to achieve the tight geometrical tolerances in a rapid way.
    Intuitively, by monitoring the object dimension on-line, the process parameters can be dynamically varied in a suitable fashion to compensate for the process errors. This leads to the requirement of real-time and local-level process control for process optimisation. Obviously, a closed-loop mechanism for on-line monitoring requires in-process sensing and ideally, integration of relevant sensors at the tool of the machine is also demanded.
    [RR@NTU CorpLab, Robotics & Automation]
    Positioning Control on Mechanical Systems with Hysteresis Behavior
    In a system with geometric nonlinearity, the change in geometry as the structure deform causes a nonlinear change of the parameters in the system. Any typical memoryless nonlinearity can be attributed to the geometric nonlinearity class, namely hardening spring, softening spring, backlash and saturation. On the other hand, material nonlinearities appear when the behavior of the material of the system depends on the current deformation. This type of nonlinearity is usually associated with the existence of hysteresis behavior in the dynamics of a system.
    This project aims to characterize, identify, model and control various mechanical systems with different hysteresis properties. A few different cases are considered, i.e. friction in rigid surfaces, friction in flexible structures (tendon-sheath) and piezoelectricity.
    [Mechatronic Lab, Robotics & Automation]

Research Students under supervision

PhD Students
Name Project
Do Thanh Nho Dynamic Friction Modeling and Control for Flexible Tendon-sheath Mechanism
Hu Peng Characterization and Control of Systems with Hysteresis Nonlinearities
Dung Van Than Friction-based Controller for Tool-wear Compensation
Lee Shian Actuation and Control of Flexible Membrane Winged Mini-UAV
Victor Chan Chong Mun Condition monitoring in manufacturing processes
Zhang Zhengyang 3D Shape Recovery for Remanufacturing
Zhu Ke Friction Based Approach for Clutch Wear Monitoring
Solai Raja Pandiyan Vigneashwara Pandiyan In process sensing (for indirect surface quality estimation)
Huynh Bao Huy To Optimize A Flow Induced Vibration Structure for Energy Harvesting Application

Selected Publications
  • Do, T.N.,Tjahjowidodo, T., Lau, W.S and Phee, S.J. (2014). A New Approach of Friction Model for Tendon-Sheath Actuated Surgical Systems, accepted to appear in Mechanism and Machine Theory (DOI: 10.1016/j.mechmachtheory.2014.11.003).
  • Hassani, V., Tjahjowidodo, T., Do, T.N. (2014). A Survey on Hysteresis Modeling, Identification and Control, Mechanical Systems and Signal Processing, 49, 209-233.
  • Do, T.N.,Tjahjowidodo, T., Lau, W.S, Yamamoto, T., and Phee, S.J. (2014). Hysteresis Modelling and Position Control of Tendon-Sheath Mechanism in Flexible Endoscopic Systems, Mechatronics, 24(1), 12-22.
  • Do, T.N.,Tjahjowidodo, T., Lau, W.S and Phee, S.J. (2014). An Investigation of Friction-Based Tendon Sheath Model Appropriate for Control Purposes, Mechanical Systems and Signal Processing, 42(1), pp. 97-114.
  • Hassani, V. and Tjahjowidodo, T., (2013). Dynamic Modeling of 3-DOF Pyramidal-shaped Piezo-Driven Mechanism, Mechanism and Machine Theory, 70, 225-245.
  • Tjahjowidodo, T., Al-Bender, F., and Van Brussel, H. (2013). Theoretical Modelling and Experimental Identification of Nonlinear Torsional Behaviour in Harmonic Drives, Mechatronics, 23(5), pp. 497–504.
  • Hassani, V. and Tjahjowidodo, T., (2013). Structural Response Investigation of A Triangular-based Piezoelectric Drive Mechanism to Hysteresis Effect of the Piezoelectric Actuator, Mechanical Systems and Signal Processing, 36(1), pp. 210-223.
  • Tjahjowidodo, T., (2012). Theoretical Analysis of the Dynamic Behavior of Presliding Rolling Friction, Mechanical Systems and Signal Processing, 29, pp. 296-309.

  • Control Theory
  • Real Time Control & Ai Prog of Robot Beetle
  • Computer Modelling, Simulation and Control of an Electromechanical System
  • Dynamics of Control
  • Engineering Graphics & Machine Components
  • Experimental Methods for Engineers