Dissertations / Theses on the topic '091302 Automation and Control Engineering'
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Borndalen, Philip. "Automation and Improved control of Bundle pusher : Automation control." Thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-353933.
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Newspapers are often bundled and packet on pallets to secure transport. Packing thebundles on pallets are often done with an automatic palletizer. For reliable operation,the bundle needed to have a correct position and orientation on the infeed conveyor.Wrong orientation can happen when the bundle is pushed from conveyor to thepalletisers conveyor. The main to reasons is wrong timing that leads to rotation of thebundle and to high pushing force that leads to tumbled bundles. The goal of thisproject is to make a prototype of a system that automatically adapts the pressure andsignal when to push using two laser sensors. One sensor sends a digital signal if laserbreaks, the other measure distance, e.g. bundle hight. The software was developed onan Arduino Uno board, and two interface board was made for voltage levelconversions. The prototype system managed to change pressure for different bundlesizes and timed the pushing signal correctly.
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Hatipoglu, Cem. "Lateral Control of Vehicles for Highway Automation." The Ohio State University, 1995. http://rave.ohiolink.edu/etdc/view?acc_num=osu1391691665.
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Tibazarwa, Augustine. "Disciplined agility for process control & automation." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/58525.
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Thesis (S.M.)--Massachusetts Institute of Technology, Engineering Systems Division, System Design and Management Program, 2009.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 112-115).
Process automation vendors must consider agility as a basis to gain a competitive edge in innovation. Process Automation systems can impact the operating cost of manufacturing equipment, the safe control of large quantities of energy and the safety of dangerous substances used during manufacturing. The manufacturing segment expects greater automation of larger processes, increased capability of process automation systems, and higher quality of those systems. At the same time, business requirements for process automation vendors demand shorter time to market, and greater market return for each dollar invested in product development. Therefore, process automation vendors must determine how to preserve discipline in development processes while adopting process agility necessary to meet dynamic business conditions. Interviews with 9 leaders from 6 companies (2 manufacturers, 2 process automation vendors and 2 automation consulting firms), survey feedback from development personnel and research of literature on state-of-the-art and state-of-the-practice, yielded over 90 findings and observations on process automation business needs, development of automation offerings, and on suitability of agile practices to process automation product development. Agile methods may require changes to manufacturer work processes, but would enable an automation vendor to unlock more of the manufacturer's production value.
(cont.) Disciplined adoption of agile methods is crucial for agility to take hold throughout an automation vendor's organization, and to meet the concerns of process automation stakeholders. Rather than dismiss the suitability of agile development to process automation, a prescriptive guidance is provided that integrates an opportunistic risk-based assessment of how much agility is appropriate. The four values and twelve principles of the Agile Manifesto are a good basis for 8 additional agile practices for process automation: transitioning to agile, investing in agile capability, managing critical system parameters, engineering system-robustness, balancing project risk, continuous system validation, assuring domain expertise and clarifying ecosystem role.
by Augustine Tibazarwa.
S.M.
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Han, Min-Hong. "Work flow control in automated manufacturing." Diss., Georgia Institute of Technology, 1985. http://hdl.handle.net/1853/24566.
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Lönnroth, Viktor. "Improving quality control in automation projects using simulation systems." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-293928.
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Automation systems are becoming more and more integrated in today’s society. The complexities of these systems are increasing and with this, the demand for high quality during the developmental phases. This poses a challenge for companies developing systems. One solution emerging form this issue is the use of simulations and virtual commissioning. In the thesis, the process of quality control and the effective use of simulations in automation system development projects are studied. The focus lies on the software part of the systems. The study was conducted as an interview study of personnel at an automation systems development company. After conducting the interviews, the information was analyzed. This was combined with general theory regarding quality control and testing methods in software development. The test methods of the quality control process were then combined with what was required by a simulator in order to preform them. The results of the thesis is a detailed picture of the quality control process. Systems are tested twice with the same testing hierarchy, first during development and then during commissioning. The difference is that during development, the final physical hardware and process system are not conceded to the software. This impacts the software system functionality and limiting its testability. Using simulations during development can reduce the disparity between the systems before and after deployment, improving quality. Considerations regarding the extent of simulation need to be made in order for the value of the simulators’ error removing potential to be higher than the cost of developing the simulator.Automationssystem blir mer och mer integrerade i dagens samhälle. Systemens komplexitet ökar och med det karven på hög kvalitet under utvecklingen. Detta blir en utmaning för de företag som utvecklar systemen. En lösning som är på uppgång för detta är användningen av simulering och virtuell driftsättning. I denna rapport studeras processen för kvalitetskontroll och effektiv användning av simulering i utvecklingsprojekt av automationssystem. Fokus ligger på mjukvarudelen av systemen. Studien är gjord som en intervjustudie av personal från ett automationsutvecklings företag. Efter intervjuerna analyserades materialet och kombinerades med generella teorier om kvalitetskontroll och testning i mjukvaruutveckling. Processens tester kombinerades sedan med vad som krävs av en simulator för att utföra dessa. Resultatet av detta arbete är för det första en detaljerad bild av kvalitetskontrolls processen. Detta visar att systemen tests två gånger med samma testhierarki, först under utvecklingen och sedan under driftsättningen. Skillnaden är att under utvecklingen saknas den riktiga hårdvaran och process systemet vilket påverkar mjukvarans funktionalitet och begränsar testbarheten. Genom att använda simulering under utvecklingen kan skillnaden mellan systemen före och efter distribution vilket ökar kvaliteten. Överväganden gällande vilken nivå av simulering som behövs för att värdet av simulerings potentiella förmåga att ta bort fel skall bli göre en kostande för att utveckla simuleringen.
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Gordon, Brandon W. (Brandon William). "Coordinated control of two macro/micro manipulators for fiber pigtailing automation." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/10926.
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Plönnigs, Jörn. "Control network performance engineering qualitätsorientierter Entwurf von CSMA-Netzwerken der Automation." Dresden Vogt, 2007. http://deposit.d-nb.de/cgi-bin/dokserv?id=3009957&prov=M&dok_var=1&dok_ext=htm.
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Tsai, Chi-Keng. "Computer control of an electro-hydraulic robot leg with proximity ranging system /." The Ohio State University, 1985. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487260135355525.
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Chong, Gregory Chow Ye. "Trajectory-scheduling control systems and their multi-objective design automation." Thesis, University of Glasgow, 2006. http://theses.gla.ac.uk/3728/.
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This thesis encompasses the analysis of TSN systems and their multi-objective design methods. TSN nodes are networked through interpolation and activation, similar to a gain-scheduling or local model/controller network. However, to achieve accuracy and ease of commissioning without requiring a large number of nodes, an algorithm has been developed first to identify optimum transition nodes within the entire operating envelope. Then the TSN approaches a nonlinear plant globally, not just locally, without requiring linearization. If desired or necessary, global optimisation provides an enhancement in the design process for TSNs. Since optimising only one aspect (a single objective) of performance while compromising others is undesirable, multi-objective designs have been developed concurrently to deliver or improve multiple aspects of performance. Following the development of a TSN, it is applied to nonlinear system modelling, and this TSN is termed a Trajectory-Scheduling Model (TSM). A TSM possesses the same properties and design features as the TSN generic framework. A nonlinear system, a coupled liquid-tank, is used to examine this modelling technique. Results verify the feasibility and effectiveness of the methods developed and validates the TSM. Further, the TSN technique is applied to nonlinear controller design, by way of a Trajectory-Scheduling Controller (TSC) network. It is illustrated through the design of a networked, easy-to-understand and easy-to-use PID control system for the coupled liquid-tank. Results show that the methods developed offer a high-performance linear control system with nonlinear capabilities to handle practical systems operating in a broad range and to cope with conflict between setpoint following at transient and disturbance rejection at steady state. This method is then applied to the PID network design problems for two nonlinear chemical processes.
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Cheng, Chih Wei. "Design and implementation of home automation control system based on Zigbee and transmission control protocol/internet protocol." Thesis, California State University, Long Beach, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10001582.
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This project discusses the Home Automation System (HAS), which utilizes the technology of wireless sensor network (WSN). The control mechanism of these systems is based on ZigBee that works in collaboration with mobile and Internet systems. The input of these devices is quite different, which creates challenges for the creators of the system. Certain household devices are very easy to control while others have comparatively complex inputs. The system should be able to control both types of devices through a singular interface. This challenge is overcome by implementation of the wireless sensor nodes in a HAS. A highly important advantage of using ZigBee’s monitoring system is energy conservation, and reduction in power costs. Utilization of HAS leads to a decrease in consumption of water, electricity and other energy inputs, a reduction of the cost of utilities, and the improvement of security features. The paper demonstrates that Home Automation System has numerous applications beyond control of lighting, temperature and security cameras in a household. The technology opens up frontiers for numerous other applications in the area of home assistance and even in home health care.
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Fuerle, Fabian. "Structural optimization in engineering design with a focus on process automation." Thesis, Swansea University, 2010. https://cronfa.swan.ac.uk/Record/cronfa42567.
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The present work is concerned with the advancement of the knowledge of structural optimization in engineering design while focusing on efficient and easy to use ways of setting-up the required automated processes as well as the problems arising from it. Three industry examples are considered. In the first example a software tool that serves as a hands-on decision guidance for many occurring design situations for structured wall PE pipes is developed. In order to avoid licensing fees only public domain software or in-house code are used. It offers the efficient and automated simulation of the ringstiffness test as well as the most common pipe installation scenarios. In addition, an optimization feature is implemented for the design of optimum pipe profiles with regards to the ringstiffness test. In the second example a framework for the optimum design of carbon fibre mountain bike frames is developed. An extensively parameterized and automated simulation model is created that allows for varying tube shapes, paths and laminate ply thicknesses as well as joint locations. For improved efficiency a decomposition approach has been employed that decomposes the original optimization problem into a size optimization sub problem and a shape optimization top level problem. The former is solved by the built-in optimization tool in OptiStruct and the latter by means of surrogate based optimization where each experiment in the DoE is a full size optimization. The third example is concerned with the optimum design of a blade for a novel vertical axis wind turbine. A design approach similar to those with horizontal axes is chosen. The altered design requirements are accounted for by creating a parameterized simulation model and performing size optimization runs for 32 models with different material settings and shear web locations where the model creation process has been automated.
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Sheu, Hsin-Teng. "A coordinated decentralized flow and routing control algorithm for an automated highway system /." The Ohio State University, 1987. http://rave.ohiolink.edu/etdc/view?acc_num=osu148758564557836.
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Bentabol, Muñoz Emilio, Ibáñez Carlos Bosque, Ruiz Pedro González, de Mendoza Jose Manuel Hurtado, and Zúñiga Enrique Ruiz. "Linking Wise-ShopFloor to an ABB IRB-140 Robot : Remote control, monitoring, and programming of an ABB robot IRC 5 through the internet." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-13933.
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The aim of this project is integrate the new robot IRB140 from ABB inside the application Wise ShopFloor (Web-based integrated sensor-driven e-ShopFloor) and the integration of a web camera inside the application as well. In order to integrate the ABB IRB140 inside the application, a Java 3D model has to be created, the kinematics and collision constrains have to be defined also and the GUI application modified to fit the virtual model and the camera inside the application. The user has to be able to jog the web camera and zoom it. Changes in the server side have been done in order to introduce new functionalities such as the sessions management, the communication mechanism now is more general using Java inheritance.Wise-ShopFloor
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Naghiyev, Arzoo. "Human factors of train driving with in-cab control and automation technology." Thesis, University of Nottingham, 2017. http://eprints.nottingham.ac.uk/39522/.
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The European Train Control System (ETCS) as part of the ERTMS (European Rail Traffic Management System) is a train control and automation system, which has been introduced into the UK rail network. The major change with the introduction of the ERTMS has been the shift of the movement authority from signals outside on the tracks to inside the cab, and the introduction of speed profiles that the drivers must adhere to. The introduction of this new system triggered the need to understand its impact on the train driving task and train driver behaviour. In particular, the effect the ERTMS has on drivers’ cognitive strategies and demands. The overall aim of the thesis was to understand the effects of new train control and automation technology on train drivers’ behaviours. The research was conducted, using a mixed methods approach, in the rail environment with train drivers and rail experts. Literature reviews of existing train driving models, train driving research and associated issues of increasing control and automation on human behaviour; were used to provide the theoretical context for the thesis. The literature review highlighted that there was a potential shift in cognitive strategies and demands with the introduction of train automation and control technology. Due to the limited amount of research in train driving on the whole, but also train driving with automation and control technology, the majority of the literature hypothesised the possible impact of the introduction of automation and control technology. An exploratory study of some of the different forms of train driving in the UK, was used to generate insight about train driving with different forms of train technologies and provided the theoretical foundations for the following studies. The emerging cognitive themes also addressed the gap in knowledge about train driving with different forms of technologies. The emerging cognitive themes from this study included route knowledge and memory, monitoring, allocation of attention, anticipation, prioritisation and decision making. A semi-structured interview study with ERTMS drivers, addressed some of the questions raised in the previous study using ERTMS drivers’ subjective experiences. Since the exploratory study, the results demonstrated an adaptation and shift towards acceptance of the system and it also identified some of the driving strategies that had emerged. This chapter investigated drivers’ subjective experience, highlighting high-level strategy changes. A real world exploratory eye-tracking study with both conventional and ERTMS drivers on their normal timetabled routes, provided a wealth of data. The first level of the quantitative eye-tracking analysis, aimed to address the industry question of ‘heads up’ vs. ‘heads up, heads down driving’. It demonstrated a shift of typical visual attentional strategy from monitoring outside on the tracks to speed information inside the cab. Analysis of verbal protocol data collected in the eye-tracking study also provided some rich qualitative data about train driver strategies and demands. Further analyses of the eye-tracking data, identified events where there is a difference in visual behaviour between ERTMS driving and conventional driving, but also between each type of driving and its own baseline data. An expert elicitation workshop with ERTMS human factors experts, was used to generate requirements for a future train driving model. The main findings highlighted that several models are needed to help address some of the issues raised, as they could provide different uses, acting as ‘building blocks’ to the overall picture. Qualitative models can be used to provide the framework and language as a communication tool, whilst more quantitative models can be used to compute error and workload. Models need to be informed by cognitive theory but also focus on the train driving tasks and information used by train drivers. Finally, the studies presented in this thesis were used to develop an integrated human factors model of the influence of train automation and control technology on train driving and guidance was generated for future train driving models for both conventional and ERTMS train driving. The current research has contributed critical knowledge to both the academic literature but also informed human factors practitioners in the rail industry. The thesis has contributed novel understanding about train driving with a control and automation technology, which have already been utilised by the rail industry.
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Fitzpatrick, Daniel Ewert. "Engineering chemistry : integrated control strategies and Internet-enabled tools for chemical synthesis." Thesis, University of Cambridge, 2017. https://www.repository.cam.ac.uk/handle/1810/267427.
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The use of enabling technologies and continuous methods to enhance chemical synthesis is a vibrant area of research, gaining increasing attention from laboratories in academia and industry. Yet many prominent synthesis procedures have not changed for decades and require significant manual intervention from bench chemists, which may lead to the waste of both human and material resources. The research described herein details how chemistry has been bridged with engineering to address this issue in a world increasingly focussed on sustainability and efficiency. This thesis is divided into four chapters. The first describes the development of a novel Internet-based process control system which is applied to automate a cycling catalytic process. The capability of the system to conduct multi-dimensional self-optimisation processes is shown, where it is integrated with an on-line mass spectrometer and inline infrared spectrometer to drive optimisation against customisable multicomponent evaluation functions. Chapter 2 details the successful synthesis of the anti-cancer drug candidate AZ82. The control system is applied to assist with a number of these steps, including facilitating the integration between batch and flow processes on a single reactor platform. A new distillation unit to assist with downstream solvent switching is also described. In Chapter 3, the cloud-based nature of the control system is exploited by moving it to servers residing in Tokyo. The ability of the system to accelerate the drug development process is highlighted with the autonomous self-optimisation and synthesis of four active pharmaceutical ingredient targets: tramadol, lidocaine, bupropion and isoniazid. In the case of bupropion, the system maintained steady-state operation of a telescoped two-step process for an extended period. A researcher in Los Angeles was able to initiate and monitor all processes, via Japan, in real-time as they occurred in our laboratory in Cambridge, UK. Finally, Chapter 4 describes the development of a new parallel column supercritical fluid chromatography (SFC) unit that is capable of separating a multicomponent product stream continuously exiting a flow reactor. The versatility of the SFC unit is showcased with the telescoped synthesis of isoniazid in which all stages, including the SFC process itself, are managed by the control system without researcher intervention.
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Marinakos, Helias John. "Effects of control automation on operator attention and risk probability in high speed trains." Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/42675.
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Björklund, Andreas, and Viktor Ljunggren. "Förbättring av ritningshantering hos ABB Industrial Automation Control Technologies." Thesis, Uppsala universitet, Industriell teknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-360117.
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Cost of poor quality describes what the lack of quality costs an organization. By understanding what the concept is and how it can be translated into a specific organization, it creates the conditions for eliminating them, and it can generate a saving of up to 30% of the organization's turnover. The study has been carried out at ABB Industrial Automation Control Technologies in Västerås within the group ABB AB. This work has focused on visualizing the problem and how it could be attacked. The purpose of the thesis is, "… to generate evidence about the management of drawings, as well as to propose measures that can improve this process. The aim is also to help ensure that there is a process where suppliers always produce based on the right and most recent edition. " The processes of drawing management have been visualized based on information from interviews, observations and secondary data that have been based on information from routines together with governing documents. Thereafter, deficiencies in this drawing management process have been identified and also the causes. The result from the thesis is a process mapping with identified shortcomings and the causes of these. A specification has been prepared for guidelines on how ABB Industrial Automation Control Technologies will work with improvements on this process.Kvalitetsbristkostnader beskriver vad avsaknaden av kvalitet kostar en organisation. Genom att förstå vad begreppet är och hur det kan översättas till en specifik organisation skapas förutsättningarna för att eliminera dessa samt på så sätt spara upp till 30 % av organisationens omsättning. Studien har genomförts på ABB Industrial Automation Control Technologies i Västerås inom koncernen ABB AB. ABB Industrial Automation Control Technologies har en förståelse om vad kvalitetsbristkostnader är och därmed har ett problemområde presenterats. Detta arbete har inriktats på att visualisera problemet samt hur det skulle kunna angripas. Examensarbetets syfte är, ”Avsikten med detta arbete är att generera underlag kring hantering av ritningar samt att även föreslå åtgärder som kan förbättra denna hantering. Syftet är även att bidra till säkerställandet av att ha en process där leverantörer alltid producerar efter rätt och senaste upplaga av ritningar.” Processen ritningshantering har visualiserats baserat på information från intervjuer, observationer samt baserat på sekundärdata som information om befintliga rutiner och styrande dokument. Därefter har brister inom denna ritningshanteringsprocess identifierats samt medföljande orsaker åskådliggjorts. Studiens resultat är en processkartläggning med identifierade brister och orsakerna till bristerna. En kravspecifikation har tagits fram som skapar grunden till förbättringsarbetet som ABB Industrial Automation Control Technologies står inför.
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Gungor, Mustafa Kemal. "A Programmable Control Unit For Industrial Applications." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/772764/index.pdf.
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In this thesis, the automation of the long term and cyclic processes by using a programmable control unit is aimed.
To achieve this goal, timing relays and various microcontrollers are investigated. PIC microcontroller is chosen to implement the control unit due to its advantages like high speed, Harvard and RISC architecture, low cost and flexibility for programming. Theory of the PIC microcontrollers is studied and a controller unit to be used in the mentioned processes is designed. Some features are added to the device to widen the application fields and consequently a multi-purpose programmable controller is realized.
In the device, Microchip PIC16F877 is used as the microcontroller. The code of the controller is written in Assembly Language and is compiled with MPASM.
This controller counts the signals coming from internal Timer 555 or external signals and activates ten different outputs in order. The operating times of the outputs can be
changed by a keypad and shown in a display.
By keeping the number of the used ports of the microcontroller, as few as possible, room for the future improvements and additions is provided.
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Seppelt, Bobbie Danielle. "Supporting operator reliance on automation through continuous feedback." Diss., University of Iowa, 2009. https://ir.uiowa.edu/etd/432.
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In driving, multiple variables in automated systems such as adaptive cruise control (ACC) and active steering, and in the environment dynamically change and interact. This complexity makes it difficult for operators to track the activities and responses of automation. The inability of operators to monitor and understand automation's behavior contributes to inappropriate reliance, i.e. when an operator uses automation that performs poorly or fails to use automation that is superior to manual control. The decision to use or not use automation is one of the most important an operator can make, particularly in time-critical or emergency situations, therefore it is essential that an operator is calibrated in their automation use. An operator's decision to rely on automation depends on trust. System feedback provided to the operator is one means to calibrate trust in automation in that the type of feedback may differentially affect trust. The goal of this research is to help operators manage imperfect automation in real-time and to promote calibrated trust and reliance. A continuous information display that provides information on system behavior relative to its operating context is one means to promote such calibration. Three specific aims are pursued to test the central hypothesis of this dissertation that continuous feedback on the state and behavior of the automation informs operators of the evolving relationship between system performance and operating limits, therefore promoting accurate mental models and calibrated trust. The first aim applies a quantitative model to define the effect of understanding on driver-ACC interaction failures and to predict driver response to feedback. The second aim presents a systematic approach to define the feedback needed to support appropriate reliance in a demanding multi-task domain such as driving. The third aim assesses the costs and benefits of presenting drivers with continuous visual and auditory feedback. Together these aims indicate that continuous feedback on automation's behavior is a viable means to promote calibrated trust and reliance. The contribution of this dissertation is in providing purpose, process, and performance information to operators through a continuous, concurrent information display that indicates how the given situation interacts with the characteristics of the automation to affect its capability.
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David, Giacomo. "Static and dynamic forces accuracy of a Lightweight Collaborative Robot through impedance control." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022. http://amslaurea.unibo.it/25461/.
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Industry 4.0 has become established, arousing the great interest of curiosities and fears for the impact not yet recognized. Human-robot collaboration is also being given more emphasis since collaborative robots improve safety and flexibility. However, not for all possible applications, the great initial economic effort of these machines may pay off expectations.
This dissertation aims to give useful measurements performed on a KUKA LBR iiwa, an advanced collaborative robot.
By executing particular tasks, like polishing, it has been noticed that Cartesian forces reconstructed by the robot are not always such accurate as assured by the manufacturer.
The goal of this thesis is to compare the measured force by the robot torque sensors with the force measured by an external load cell. The focus is on the Z-axis force, considered the most relevant for the applications considered. For this reason, a commercial mono-axial load cell has been used.
In these experiments, both static and dynamic forces were treat.
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Plönnigs, Jörn. "Control Network Performance Engineering." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2007. http://nbn-resolving.de/urn:nbn:de:swb:14-1189518885137-19770.
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Beim Entwurf großer Netzwerke der Automation ermöglichen Methoden der Leistungsbewertung den Test und die Dimensionierung eines Netzwerkes bereits vor der Inbetriebnahme und erlauben damit einen effizienten, qualitätsorientierten Entwurf. Es ist jedoch sehr wissensintensiv und aufwendig, entsprechende Analyse- oder Simulations-Modelle aufzustellen und die Ergebnisse auszuwerten, weshalb die Methoden in der Praxis der Automation selten verwendet werden. Viel vertrauter sind dem Entwerfer hingegen die speziellen Software-Tools, mit denen in der Automation Netzwerke entworfen werden. Auf Basis der Datenbanken dieser Tools werden in dieser Arbeit verschieden Verfahren zur automatischen Systemmodellierung, Verkehrsmodellierung, Leistungsbewertung und Fehlerdiagnose zu einem Control Network Performance Engineering kombiniert, welches die Qualitätsbewertung und -beratung nahtlos und ohne Mehraufwand in den Netzwerkentwurf integriert. (Die Dissertation wurde veröffentlicht im Jörg Vogt Verlag, Voglerstr. 20, 01277 Dresden, Internet: http://www.vogtverlag.de/, email: info@vogtverlag.de, ISBN 978-3-938860-10-6)During the design of large automation networks, performance analysis methods can be used for testing and dimensioning the network before implementation and are essential for an efficient and reliable design process. However, setting up the necessary analytical or simulative models is time-consuming, requires in-depth knowledge, and is therefore often not applicable in practice. The network designers are much more used to the design tools used to develop automation networks. Based on these tools' databases various methods for automated system and traffic modeling, performance analysis and diagnoses are combined in the control network performance engineering that seamlessly integrates quality analysis and consulting into network design without requiring additional effort. (This manuscript is also available - in the form of a book - from Jörg Vogt Verlag, Voglerstr. 20, 01277 Dresden, Germany world-wide web address: http://www.vogtverlag.de/, electronic-mail address: info@vogtverlag.de, ISBN 978-3-938860-10-6 )
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Larsson, L. Viktor. "Control Aspects of Complex Hydromechanical Transmissions : with a Focus on Displacement Control." Licentiate thesis, Linköpings universitet, Fluida och mekatroniska system, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-139855.
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This thesis deals with control aspects of complex hydromechanical transmissions. The overall purpose is to increase the knowledge of important aspects to consider during the development of hydromechanical transmissions to ensure transmission functionality. These include ways of evaluating control strategies in early design stages as well as dynamic properties and control aspects of displacement controllers, which are key components in these systems. Fuel prices and environmental concerns are factors that drive research on propulsion in heavy construction machinery. Hydromechanical transmissions are strong competitors to conventional torque-converter transmissions used in this application today. They offer high efficiency and wide speed/torque conversion ranges, and may easily be converted to hybrids that allow further fuel savings through energy recuperation. One challenge with hydromechanical transmissions is that they offer many different configurations, which in turn makes it important to enable evaluation of control aspects in early design stages. In this thesis, hardware-in-the-loop simulations, which blend hardware tests and standard software-based simulations, are considered to be a suitable method. A multiple-mode transmission applied to a mid-sized construction machine is modelled and evaluated in offline simulations as well as in hardware-in-the-loopsimulations. Hydromechanical transmissions rely on efficient variable pumps/motors with fast, accurate displacement controllers. This thesis studies the dynamic behaviour of the displacement controller in swash-plate axial-piston pumps/motors. A novel control approach in which the displacement is measured with an external sensor is proposed. Performance and limitations of the approach are tested in simulations and in experiments. The experiments showed a significantly improved performance with a controller that is slightly more advanced than a standard proportional controller. The implementation of the controller allows simple tuning and good predictability of the displacement response.
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Strano, Bruno. "UAV: Design,Simulation and Control." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018.
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Search and rescue operations in the Alpine area must be carried out as soon as possible to safeguard the lives of those involved in an accident. The use of drones in this area is of great interest due to the effectiveness with which it is possible to carry out SER operations in a short time. The AirBorne project deals with the development and study of drones to be applied in this field, in collaboration with the Aslatech company. This thesis aims to analyze the construction techniques of these drones and analyze the differences between two configurations to select the best components to be included in a final configuration. It also analyzes a key point for drones used in SER operations, ie control. An obstacle avoidance algorithm is presented and analyzed based on the use of artificial potentials.
A simulation environment is then presented and analyzed in which a drone with ultrasound sensors will be simulated. A version of the obstacle avoidance control will be adapted to the specific case of ultrasonic sensors, analyzing the differences and testing their performance and feasibility
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Tam, Joseph. "Methods of Characterizing Gas-Metal Arc Welding Acoustics for Process Automation." Thesis, University of Waterloo, 2005. http://hdl.handle.net/10012/859.
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Recent developments in material joining, specifically arc-welding, have increased in scope and extended into the aerospace, nuclear, and underwater industries where complex geometry and hazardous environments necessitate fully automated systems. Even traditional applications of arc welding such as off-highway and automotive manufacturing have increased their demand in quality, accuracy, and volume to stay competitive. These requirements often exceed both skill and endurance capacities of human welders. As a result, improvements in process parameter feedback and sensing are necessary to successfully achieve a closed-loop control of such processes. One such feedback parameter in gas-metal arc welding (GMAW) is acoustic emissions. Although there have been relatively few studies performed in this area, it is agreed amongst professional welders that the sound from an arc is critical to their ability to control the process. Investigations that have been performed however, have been met with mixed success due to extraneous background noises or inadequate evaluation of the signal spectral content. However, if it were possible to identify the salient or characterizing aspects of the signal, these drawbacks may be overcome.
The goal of this thesis is to develop methods which characterize the arc-acoustic signal such that a relationship can be drawn between welding parameters and acoustic spectral characteristics. Three methods were attempted including: Taguchi experiments to reveal trends between weld process parameters and the acoustic signal; psycho-acoustic experiments that investigate expert welder reliance on arc-sounds, and implementation of an artificial neural network (ANN) for mapping arc-acoustic spectral characteristics to process parameters.
Together, these investigations revealed strong correlation between welding voltage and arc-acoustics. The psycho-acoustic experiments confirm the suspicion of welder reliance on arc-acoustics as well as potential spectral candidates necessary to spray-transfer control during GMA welding. ANN performance shows promise in the approach and confirmation of the ANN?s ability to learn. Further experimentation and data gathering to enrich the learning data-base will be necessary to apply artificial intelligence such as artificial neural networks to such a stochastic and non-linear relationship between arc-sound and GMA parameters.
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Ahmad, Bilal. "A component-based virtual engineering approach to PLC code generation for automation systems." Thesis, Loughborough University, 2014. https://dspace.lboro.ac.uk/2134/16060.
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In recent years, the automotive industry has been significantly affected by a number of challenges driven by globalisation, economic fluctuations, environmental awareness and rapid technological developments. As a consequence, product lifecycles are shortening and customer demands are becoming more diverse. To survive in such a business environment, manufacturers are striving to find a costeffective solution for fast and efficient development and reconfiguration of manufacturing systems to satisfy the needs of changing markets without losses in production. Production systems within automotive industry are vastly automated and heavily rely on PLC-based control systems. It has been established that one of the major obstacles in realising reconfigurable manufacturing systems is the fragmented engineering approach to implement control systems. Control engineering starts at a very late stage in the overall system engineering process and remains highly isolated from the mechanical design and build of the system. During this stage, control code is typically written manually in vendor-specific tools in a combination of IEC 61131-3 languages. Writing control code is a complex, time consuming and error-prone process.
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Mitchell, Samuel A. "Ground Vehicle Platooning Control and Sensing in an Adversarial Environment." DigitalCommons@USU, 2016. https://digitalcommons.usu.edu/etd/5021.
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The highways of the world are growing more congested. People are inherently bad drivers from a safety and system reliability perspective. Self-driving cars are one solution to this problem, as automation can remove human error and react consistently to unexpected events. Automated vehicles have been touted as a potential solution to improving highway utilization and increasing the safety of people on the roads. Automated vehicles have proven to be capable of interacting safely with human drivers, but the technology is still new. This means that there are points of failure that have not been discovered yet.
The focus of this work is to provide a platform to evaluate the security and reliability of automated ground vehicles in an adversarial environment. An existing system was already in place, but it was limited to longitudinal control, relying on a steel cable to keep the vehicle on track. The upgraded platform was developed with computer vision to drive the vehicle around a track in order to facilitate an extended attack. Sensing and control methods for the platform are proposed to provide a baseline for the experimental platform.
Vehicle control depends on extensive sensor systems to determine the vehicle position relative to its surroundings. A potential attack on a vehicle could be performed by jamming the sensors necessary to reliably control the vehicle. A method to extend the sensing utility of a camera is proposed as a countermeasure against a sensor jamming attack. A monocular camera can be used to determine the bearing to a target, and this work extends the sensor capabilities to estimate the distance to the target. This provides a redundant sensor if the standard distance sensor of a vehicle is compromised by a malicious agent. For a 320×200 pixel camera, the distance estimation is accurate between 0.5 and 3 m.
One previously discovered vulnerability of automated highway systems is that vehicles can coordinate an attack to induce traffic jams and collisions. The effects of this attack on a vehicle system with mixed human and automated vehicles are analyzed. The insertion of human drivers into the system stabilizes the traffic jam at the cost of highway utilization.
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Schneider, Georg Ferdinand [Verfasser], and J. [Akademischer Betreuer] Ovtcharova. "Semantic Modelling of Control Logic in Automation Systems - Knowledge-Based Support of the Engineering and Operation of Control Logic in Building and Industrial Automation Systems / Georg Ferdinand Schneider ; Betreuer: J. Ovtcharova." Karlsruhe : KIT-Bibliothek, 2019. http://d-nb.info/1182430678/34.
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De, Freitas Martinez Andres, and Nurdin Mohamed. "Managing Validation in a Safety Critical System Regarding Automation of Air Traffic Control." Thesis, KTH, Industriell ekonomi och organisation (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-246073.
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The aviation industry is under increasing pressure to reduce cost and manage the increased number of passengers. One area under pressure is the Air Traffic Control. The Air Traffic Control will in a foreseeable future manage the introduction of drones also known as Unmanned Aerial Vehicles by integrating them into civil airspace with manned aircraft. Drones are lacking consensus from authorities with regards to standards due to their rapid expansion. Given their size, shape and speed, they can also pose threats to manned aircrafts and there is a need to address them in an Air Traffic Management system interoperating with manned aircrafts. The purpose in this study is to identify what considerations to make when automating complex system elements with respect to safety. Safety involves all the different stakeholders in the air transportation system, which is a Safety critical System. Furthermore, the aim is also to identify areas in which European Operational Concept Validation Methodology (E-OCVM) can be complemented with. Standard E-OCVM is missing specific assessment criteria with regards to safety and how it can interact with other standards. The approach is thereby to use various standards with focus on Systems Engineering to complement E-OCVM since it is lacking with regards to how it is used to validate Air Traffic Control systems. To capture the complexity of automating elements of an industry involving many stakeholders, a qualitative analysis was conducted in this project, using a System Engineering approach with four standards A-SLP, A-RLP, A-DAS and A-SAS. A-SLP and A-RLP are two general standards while A-DAS and A-SAS are focusing on the contexts of aircrafts and software development. Empirical data was gathered by semi-structured interviews of seven experts within the relevant areas in the field. From the review of the four standards, it was found that they can for instance complement E-OCVM in how software errors can lead to a failure condition among other ways. The main identified considerations faced with an integration of drones into civil airspace, is to manage the human interaction with the introduced Air Traffic Management systems. More specifically, the human element must be involved from the training phase in the development of systems in a Safety Critical System to minimize risk. Furthermore, redundancies that are built into the system has to, not only be able to put the system into a safe state, but also be carefully analyzed in how they interact with other systems to avoid misjudgement for the Air Traffic Controllers. Lastly, to obtain specific details on how interoperability could occur using standards, the standards used in this study refer to usage of other documents and standards. Standards specifically tailored for the operational context of drones would facilitate further testing and implementation of their integration into civil airspace. Given that different standards were used to complement the EOCVM standard, a set of unified standards are required that are proportional with the type of drones, the type of operations and in the environment that they are operating in. This will be needed to fulfill the European vision of safe integration of drones and needs thereby to be carried out in a global manner, thus also share experience with other actors to advance the new technology adaptation.
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Heralic, Almir. "Towards full Automation of Robotized Laser Metal-wire Deposition." Licentiate thesis, University West, Department of Engineering Science, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-2148.
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Metal wire deposition by means of robotized laser welding offers great saving potentials, i.e. reduced costs and reduced lead times, in many different applications, such as fabrication of complex components, repair or modification of high-value components, rapid prototyping and low volume production, especially if the process can be automated. Metal deposition is a layered manufacturing technique that builds metal structures by melting metal wire into beads which are deposited side by side and layer upon layer. This thesis presents a system for on-line monitoring and control of robotized laser metal wire deposition (RLMwD). The task is to ensure a stable deposition process with correct geometrical profile of the resulting geometry and sound metallurgical properties. Issues regarding sensor calibration, system identification and control design are discussed. The suggested controller maintains a constant bead height and width throughout the deposition process. It is evaluated through real experiments, however, limited to straight line deposition experiments. Solutions towards a more general controller, i.e. one that can handle different deposition paths, are suggested.
A method is also proposed on how an operator can use different sensor information for process understanding, process development and for manual on-line control. The strategies are evaluated through different deposition tasks and considered materials are tool steel and Ti-6Al-4V. The developed monitoring system enables an operator to control the process at a safe distance from the hazardous laser beam.
The results obtained in this work indicate promising steps towards full automation of the RLMwD process, i.e. without human intervention and for arbitrary deposition paths.
RMS
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Rosato, Andrea. "A Gaussian Process Learning Method for Nonlinear Optimal Control." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/22463/.
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This thesis is focused on discrete-time nonlinear optimal control techniques enhanced via a supervised learning approach based on Gaussian Process regression. Since optimal control strategies are strongly model-based, a perfect knowledge of the real system is required in order to obtain the best performances; however, it is not always possible to satisfy these requirements, since model uncertainties due to, e.g., unavailable information or hard to model dynamical effects may be present leading to a suboptimal solution for the real problem. The basic idea is to exploit measurement data to reduce (and possibly mitigate) model uncertainty. In this context, a machine learning tool, Gaussian Processes, provides a flexible and easy tool to directly assess the residual model uncertainty and to enhance the control performances. In this work, Sequential Open Loop and Differential Dynamic Programming, two well-known optimal control strategies, are adapted such that to include Gaussian Process regression. The resulting strategies adopt a simultaneous approach: at each iteration, an optimization step is executed such that a trajectory with a lower cost than the previous one is obtained. Then a learning step is performed, in order to collect data which improve the regression for next iterations. Thanks to Gaussian Process regression, the new strategies are able to solve optimal control problems when model uncertainties are present. Furthermore, the learning part is enhanced by including a selection policy which rejects not useful measurements, such that to speed-up the resolution and to assure more stability to the algorithm.
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Mieszczanek, Pawel. "Engineering of an image-based control environment for melt electrospinning process." Thesis, Queensland University of Technology, 2018. https://eprints.qut.edu.au/120540/1/Pawel_Mieszczanek_Thesis.pdf.
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This project was a step forward in developing an image-based control environment for an additive manufacturing process using polymer melts. The monitoring system provides a real time footage, that allows for analysis of the process and control of the morphology of printed structures. The system was used to conduct studies focused on the effect of printing conditions on the fibre's morphology and behaviour as well as provides the basis for future development towards quality control and optimisation.
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Shuman, Ali Murtatha. "Modeling and Control of 6-axis Robot Arm." Thesis, Linköpings universitet, Reglerteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-171928.
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Robot manipulators are getting more and more attention nowadays. This is due to their high precision and the speed they provide while executing their tasks. The desires for such high standards are increasing exponentially due to the extended workspace that manipulators provide. Therefore, a safe controller is needed to make it possible for the robot to work alongside people considering the safety precautions. These safety preconditions are widely spread, even when the needs for better human-friendly robots are rising. This thesis will introduce and explain a way to model a 6-axis robot by using its dynamical properties as well as the development of a joint space inverse dynamic controller. The controller will be tested in various different ways. Firstly by adding noise to the measured data. Then testing the robustness of the control model, while the simulated model includes properties different from those used for the controller itself. The different properties would for example be payloads and the inertia of the links. Thereafter, evaluating the precision of a followed path that is given by an operational space trajectory. The outcome of these experiments show promising results. The results show that the controller is able to manage a noise in both the joint angle and joint velocity. It also shows that an error in the payload data will give a small error in the joint angles, sequentially that gives an acceptable error for the end-effector in the operational space. Furthermore, the controller manages to keep the maximum errorin the joint angle low, while it is following a trajectory in the operational space.
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Ljungqvist, Oskar. "On motion planning and control for truck and trailer systems." Licentiate thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-153892.
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During the last decades, improved sensor and hardware technologies as well as new methods and algorithms have made self-driving vehicles a realistic possibility in the near future. Thanks to this technology enhancement, many leading automotive and technology companies have turned their attention towards developing advanced driver assistance systems (ADAS) and self-driving vehicles. Autonomous vehicles are expected to have their first big impact in closed areas, such as mines, harbors and loading/offloading sites. In such areas, the legal requirements are less restrictive and the surrounding environment is more controlled and predictable compared to urban areas. Expected positive outcomes include increased productivity and safety, reduced emissions and the possibility to relieve the human from performing complex or dangerous tasks. Within these sites, different truck and trailer systems are used to transport materials. These systems are composed of several interconnected modules, and are thus large and highly unstable while reversing. This thesis addresses the problem of designing efficient motion planning and feedback control frameworks for such systems. First, a cascade controller for a reversing truck with a dolly-steered trailer is presented. The unstable modes of the system is stabilized around circular equilibrium configurations using a gain-scheduled linear quadratic (LQ) controller together with a higher-level pure pursuit controller to enable path following of piecewise linear reference paths. The cascade controller is then used within a rapidly-exploring random tree (RRT) framework and the complete motion planning and control framework is demonstrated on a small-scale test vehicle. Second, a path following controller for a reversing truck with a dolly-steered trailer is proposed for the case when the obtained motion plan is kinematically feasible. The control errors of the system are modeled in terms of their deviation from the nominal path and a stabilizing LQ controller with feedforward action is designed based on the linearization of the control error model. Stability of the closed-loop system is proven by combining global optimization, theory from linear differential inclusions and linear matrix inequality techniques. Third, a systematic framework is presented for analyzing stability of the closed-loop system consisting of a controlled vehicle and a feedback controller, executing a motion plan computed by a lattice planner. When this motion planner is considered, it is shown that the closed-loop system can be modeled as a nonlinear hybrid system. Based on this, a novel method is presented for analyzing the behavior of the tracking error, how to design the feedback controller and how to potentially impose constraints on the motion planner in order to guarantee that the tracking error is bounded and decays towards zero. Fourth, a complete motion planning and control solution for a truck with a dolly-steered trailer is presented. A lattice-based motion planner is proposed, where a novel parametrization of the vehicle’s state-space is proposed to improve online planning time. A time-symmetry result is established that enhance the numerical stability of the numerical optimal control solver used for generating the motion primitives. Moreover, a nonlinear observer for state estimation is developed which only utilizes information from sensors that are mounted on the truck, making the system independent of additional trailer sensors. The proposed framework is implemented on a full-scale truck with a dolly-steered trailer and results from a series of field experiments are presented.
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Paoletta, Giovanni. "Electroactive soft actuators: Modelling and control." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/20189/.
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The work done in this master thesis is part of the European project MAGNIFY (1) at the University of Groningen, the Netherlands."MAGNIFY aims to develop a new generation of artificial muscles for robotic systems. The artificial muscle will be realized by using artificial molecular machines, organized in polymer nanofibers and individually controlled by external stimuli''(2)
This thesis focuses on a similar polymer that will be used in the project MAGNIFY. The work presents the analysis and utilization of an electroactive soft actuator, made of polyurethane-based nanofibers. A mat of aligned nanofibers of polyurethane and salt has been fabricated through an electrospinning process and, subsequently, has been rolled up to form a bundle of aligned nanofibers.
Several electromechanical tests have been performed on the bundle, applying a certain voltage and evaluating the force and the displacement generated by the soft actuator. The sampled data of voltage, force, and displacement are then used to identify the nonlinear model of Voltage-Force and Voltage-Displacement link. The second part of this thesis aims to use the model estimated Voltage-Displacement to build a PID controller for position control. It has been shown a possible future application for the soft actuator as a robotic arm. To conclude, an energy analysis has been performed, to compare the energy consumption of the soft-actuator and of an electric linear motor, considering similar maximum output force.
(1)This project has received funding from the European Union’s Horizon 2020 Research and Innovation Programme under Grant Agreement no. 801378.
(2)https://www.magnifyproject.eu/project-overview
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Claase, Etienne H. "Robust multi-H2 output-feedback approach to aerial refuelling automation of large aircraft via linear matrix inequalities." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/80195.
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Thesis (MScEng)--Stellenbosch University, 2013.ENGLISH ABSTRACT: In recent years the aviation industry has shown an interest in the airborne refuelling of large transport aircraft to enable increased payload mass at take-off and to extend aircraft range. Due to the large volume of fuel to be transferred, a boom and receptacle refuelling system with a larger fuel transfer rate is employed. The refuelling operation is particularly difficult and strenuous for the pilot of the receiver aircraft, because the position of the receptacle relative to the tanker aircraft must be maintained within a narrow window for a relatively long period of time. The airborne refuelling of a large aircraft is typically much more difficult than that of a fighter aircraft, since the large aircraft is more sluggish, takes much longer to refuel, and has a relatively large distance between its refuelling receptacle and its centre of mass. These difficulties provide the motivation for developing flight control laws for Autonomous In-Flight Refuelling (AIFR) to alleviate the workload on the pilot. The objective of the research is to design a flight control system that can regulate the receptacle of a receiver aircraft to remain within the boom envelope of a tanker aircraft in light and medium turbulence. The flight control system must be robust to uncertainties in the aircraft dynamic model, and must obey actuator deflection and slew rate limits. Literature on AIFR shows a wide range of approaches, including Linear Quadratic Regulator (LQR), μ-synthesis and neural-network based adaptive control, none of which explicitly includes constraints on actuator amplitudes, actuator rates and regulation errors in the design/synthesis. A new approach to designing AIFR flight control laws is proposed, based on Linear Matrix Inequality (LMI) optimisation. The relatively new LMI technique enables optimised regulation of stochastic systems subject to time-varying uncertainties and coloured noise disturbance, while simultaneously constraining transient behaviour and multiple outputs and actuators to operate within their amplitude, saturation and slew rate limits. These constraints are achieved by directly formulating them as inequalities.
AFRIKAANSE OPSOMMING: Die lugvaart industrie toon huidiglik ’n belangstelling in die brandstof oordrag tussen twee groot vervoervliegtuie gedurende vlug, met die doel om die maksimum opstyggewig kapasiteit sowel as die maksimum ononderbroke vlugafstand vermoë van die hervulde vliegtuig te vermeerder. ’n Boom hervulling-stelsel word geïmplementeer om die hoë spoed van brandstof oordrag te voorsien. Die verrigting van vluggebonde hervulling van ’n groot, trae vliegtuig is moeiliker en meer veeleisend as bv. van ’n vegvliegtuig, veral vir die vlieënier van die hervulde vliegtuig, wat sy boom-skakel moet reguleer binne ’n relatiewe klein boom bewegingsruimte vir ’n relatiewe lang tydperk. Die kinematika betrokke speel ook ’n groter rol in ’n groot hervulde vliegtuig a.g.v. die langer afstand tussen die boom-skakel en die massa middelpunt/ draaipunt. Hierdie bied die motivering om ’n beheerstelsel te ontwikkel wat die taak outomaties uitvoer. Die doel van die navorsing is om ’n beheerstelsel te ontwerp wat die boom-skakel van die hervulde vliegtuig outomaties reguleer binne die bewegingsruimte van die boom, gedurende ligte en matige turbulensie. Daar word van die beheerder vereis om robuust te wees teen onsekerhede in die vliegtuig se meganika, sowel as om die beheer oppervlaktes en turbines van die vliegtuig binne hul defleksie-, wringkrag- en sleurtempo-perke te hou. Daar bestaan reeds ’n groot verskeidenheid van benaderings tot die outomatisering van luggebonde hervulling, onder andere LQR, μ-sintese en neurale-netwerk gebaseerde aanpasbare beheer, waarvan geeneen perke op aktueerders en regulasie foute direk in die ontwerp insluit nie. ’n Nuwe benadering word voorgestel wat gebaseer is op Linear Matrix Inequality (LMI) optimering. Die LMI tegniek is relatief nuut in die gebruik van beheerstelsel ontwerp. Dit stel die ontwerper in staat om ’n stogastiese stelsel, onderworpe aan tydvariante-stelsel-variasie en gekleurde ruis versteurings, optimaal te reguleer, terwyl aktueerders en stelsel gedrag direk beperk word.
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Baxter, Michael Scott. "An Open Architecture for Versatile Machine and Actuator Control." BYU ScholarsArchive, 2004. https://scholarsarchive.byu.edu/etd/793.
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Automatic control technology increases usability, reliability and productivity in manufacturing, transportation, and climate control. There are many additional areas of modern life that could benefit through automatic control; however, current automation components are too expensive or aren't sufficiently flexible. For example, the cost of current commercial motion control components precludes their use in an average home. This thesis describes an automatic control methodology that is low cost and is flexible enough for a wide variety of control applications. Typical applications could include:
- Home lighting, security and appliances
- Commercial building heating, ventilation and air conditioning
- Industrial machine tool and process control
This automation methodology eliminates several expensive and inflexible aspects of present-day industrial automation. This is accomplished by implementing application-specific control algorithms in software run on a generic computer rather than on purpose-built hardware. This computer calculates control values for each control application connected to it via real-time communication network. This technique is similar to that of a desktop PC. When using a peripheral device, such as a printer or scanner, the PC executes device driver software to calculate control values for the devices. These values are communicated to the device over a shared bus. The automation methodology described here seeks to emulate this software-based control paradigm. This methodology reduces cost and increases flexibility in two ways. First, it eliminates application-specific control hardware and replaces it with software. This reduces the cost by eliminating the need for unique, proprietary control hardware for each product or system. Second, the software approach increases flexibility. For example, one could download a new clothes washing machine cycle via the Internet. Software control provides considerable freedom in designing and implementing control systems by allowing the designer to change system functionality without having to replace or modify hardware or even be present at the location where the control system is used. This thesis describes the development of this new control methodology. To validate its performance a home automation system is implemented. This implementation included control of laundry appliances, lighting, TV and other common household devices.
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Carter, DB. "Automation of the acquisition system of the 1,9 m telescope for the charge coupled device (CCD) camera." Thesis, Cape Technikon, 1988. http://hdl.handle.net/20.500.11838/1075.
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Thesis (Master Diploma (Electrical Engineering))-- Cape Technikon, Cape Town, 1988This thesis describes the control system developed to improve the efficiency of star acquisition on a ground-based optical telescope. "Star Acquisition" refers to the process of identifying the star of interest in a field of stars and centering it on the optical axis of the telescope , as well as setting an autoguider detector on a suitable star so the autoguider can improve the tracking performance of the telescope. Efficiency is improved by making all functions remote controlled , so the astronomer does not have to move between the control room and the telescope to operate the instrument.
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Dickie, David Alexander. "The effects of trust on the use of adaptive cruise control." Thesis, University of Iowa, 2010. https://ir.uiowa.edu/etd/488.
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Trust in automatic controllers may have an impact on awareness of system limitations and ultimately use of these systems. The purpose of this research is to determine the effects and likelihood of too much trust (overtrust) in drivers that use adaptive cruise control (ACC), a type of automatic controller that maintains vehicle speed and headway time. To add to the existing literature, this study aimed to define a significant relationship among trust, use, and awareness of ACC limitations. A post mailed or electronic-based survey was distributed to potential ACC users with 118 responses used for the main analysis. The survey responses provided demographic information, illustrated levels of trust, awareness of ACC limitations, and system use. A hierarchical cluster analysis of the data related to trust in ACC produced four clusters: overtrust, cautious, neutral, and distrust. Binary and multinomial logistic regression models then predicted the likelihood for overtrust (cluster membership). Participants in the overtrust cluster displayed the lowest level of awareness regarding ACC limitations and the highest levels of misuse. Users were more likely to overtrust ACC if they were male, misused the system, lacked limitation awareness, and indicated a willingness to opt for ACC in their next vehicle. Overtrust in ACC was shown to lead to misuse and cloud awareness of the systems' limitations. Trust seemed to be formed in the initial interactions with ACC therefore a priori trust levels of potential users should be sought before appropriate guidance is given or demonstrated through test use.
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Chen, Hao, and Luyang Xu. "Software Architecture and Framework for Programmable Automation Controller: A Systematic Literature Review and A Case Study." Thesis, Blekinge Tekniska Högskola, Institutionen för programvaruteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-16820.
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Background. PAC controller is a strengthened version of PLC controller. Its function is very similar, but its essence and construction are different. PLC and PAC have many successful applications in the field of industrial automation control. There is a lot of literature about the software architecture of PLC control system. However, there is almost no relevant literature on software architecture based on PAC control system. A well-performing and stable automatic control system is indispensable to the design and development of suitable software architecture. The quality and pattern of software architecture can even affect the stability and efficiency of the control system. Objectives. Based on these problems, we defined two primary objectives. The first is to investigate the architecture of some existing large industrial control systems, to analyze and summarize the scenarios and advantages and disadvantages of these architectural patterns. The second, based on the results of effort for the first objective, we want to propose and design a set of automated control solution architecture model based on PAC control system, which is implemented and applied in a printing house. In the process, we sum up the challenges and obstacles encountered in implementing the solution and provide some guidance or reference for those involved in the field. Methods. For the first objective, we used a systematic literature review to collect data about existing ICS architecture. Concerning the second objective, a case study was conducted in a printing house in Karlskrona Sweden, in the study, we proposed a software architecture model suitable for PAC automation control system. Then, we developed and tested the automation control system and summarized some challenges and obstacles in the process of the implementation. Results. The existing ICS (Industrial Control System) architecture models and critical problems and challenges in the implementation of ICS are identified. From the existing literature, we have summarized five commonly used large industrial control system architecture models, which are mainly using composite structures, that is, a combination of multiple architecture patterns. Also, some critical problems in the industrial control system, such as information security, production reliability, etc. are also identified. In the case study, we put forward an automatic control solution for Printing House based on SLR results. We designed the hardware deployment architecture of the system and the software control architecture. Generally speaking, this architecture is based on C/S architecture. In the development of client, we adopt the popular MVC architecture mode. In the longitudinal view of the whole system, an extended hierarchical architecture model is adopted. In the core control system, we adopt the modular architecture design idea. The whole control system is composed of 6 parts, four subsystems of PAC terminal, one server-side program and one client program. After a long time, development and test, our system finally goes online for the production, and its production efficiency is improved compared with the old system. Its expansion functions, such as Production Report and Tag Print, are deeply satisfying for the customers. Conclusions. In this research, we summarize and compare the advantages and disadvantages of several commonly used industrial control systems. Besides, we proposed a software architecture model and developed an automation control system based on PAC. We fill the gap that there is a lack of studies about the software architecture about the implementation of the automation control system based on PAC. Our result can help software engineers and developers in ICS fields to develop their own PAC based automation control system.
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Rehnholm, Mats. "Vätskekylaggregat : Optimering med Advanced Process Control." Thesis, Mittuniversitetet, Institutionen för elektronikkonstruktion, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:miun:diva-39360.
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Den pågående globala klimatförändringen innebär att vi behöver minska utsläppen av växthusgaser till atmosfären för att inte äventyra kommande generationers möjlighet att leva på jorden. Där har energieffektivisering blivit allt viktigare för företag för att minska utsläppen av växthusgaser vilket även innebär att man blir konkurrenskraftig på marknaden. Genom energieffektivisering minskar man sin förbrukning, vilket också innebär att man spar på förlusterna för transport av energin från produktion till förbrukning, det innebär vinning för miljön, samhäller och företaget. Berendsen är ett företag där effektivisering av sina processer är en ständigt pågående arbete för att spara på miljön och ekonomin. Ett område där det finns förbättringar och besparingar att göra är att undersöka ventilations- och kylsystemet som finns i anläggningen. Kylsystemet används för att kyla tilluften under sommarhalvåret, för att få en bra arbetsmiljö för de anställda. Under den andra halvan av året används kylmaskinen som värmepump för att spara energi. Målet med denna undersökning har varit att besvara frågorna om Advanced process control kan användas för att bestämma om vätskekylaggregatet i ventilationssystemet gör nytta i återvinningsdriften samt om det går att optimera driften av återvinningssystemet. Undersökningen genomfördes med hjälp av linjär regressionsanalys som är ett av flera verktyg i APC. Vidare har studien visat att verktyget i APC är användbar för att optimera driften av en process.The ongoing global climate change means that we need to reduce greenhouse gas emissions to the atmosphere in order not to jeopardize the ability of future generations to live on earth. There, energy efficiency has become increasingly important for companies to reduce greenhouse gas emissions, which also means becoming competitive in the market. By improving energy efficiency, you reduce your energy consumption, which also means saving on the loss of energy transport from the product to the consumer, which means benefits for the environment, communities and the company. Berendsen is a company in which the efficiency of its processes is an ongoing work to save the environment and the economy. One area where there are improvements and savings to be made is to investigate the ventilation and cooling system that is in the plant. The liquid cooling unit is used to cool the supply air during the summer months, to provide a good working environment for the employees. During the second half of the year, the cooling machine is used as a heat pump to save energy. The aim of this study has been to answer the questions if Advanced process control can be used to determine whether the liquid cooling unit in the ventilation system is useful in the recovery operation and whether it is possible to optimize the operation of the recycling system. The study was conducted using linear regression analysis, which is one of several tools in APC. Furthermore, the study has shown that the tool in APC is useful for optimizing the operation of a process
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Yung, I. "Automation of front-end loaders : electronic self leveling and payload estimation." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-134338.
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A growing population is driving automatization in agricultural industry to strive for more productive arable land. Being part of this process, this work is aimed to investigate the possibility to implement sensor-based automation in a particular system called Front End Loader, which is a lifting arms that is commonly mounted on the front of a tractor. Two main tasks are considered here, namely Electronic Self Leveling (ESL) and payload estimation. To propose commercially implementable solutions for these tasks, specific objectives are set, which are: 1) to propose a controller to perform ESL under typical disturbances 2) to propose a methodology for payload estimation considering realistic estimation conditions. Lastly, aligned with these goals, 3) to propose models for the Front End Loader under consideration for derivation of solutions of the specified tasks. The self-leveling task assists farmers in maintaining the angular position of the mounted implements, e.g. a bale handler or a bucket, with respect to the ground when the loader is manually lifted or lowered. Experimental results show that different controllers are required in lifting and lowering motions to maintain the implement's angular position with a required accuracy due to principle differences in gravity impact. The gravity helps the necessary correction in lifting motion, but works against the correction in lowering motions. This led us to propose a controller with a proportional term, a discontinuous term and an on-line disturbance estimation and compensation as well as the tuning procedure to achieve a 2 degrees tracking error for lowering motions in steady state. The proposed controller shows less sensitive performance to lowering velocity, as the main disturbance, in comparison to a linear controller. The second task, payload estimation, assists farmers to work within safety range as well as to work with a weight measurement tool. A mechanical model derived based on equations of motion is improved by a pressure based friction to sufficiently accurately represent the motion of the front end loader under consideration. The proposed model satisfies the desired estimation accuracy of 2\% full scale error in a certain estimation condition domain in constant velocity regions, with off-line calibration step and off-line payload estimation step. An on-line version of the estimation based on Recursive Least Squares also fulfills the desired accuracy, while keeping the calibration step off-line.
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Eusebi, Andrea. "Design and Control of a Fast and Precise Aerial Manipulator." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/21498/.
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This report describes the work involved during a six months project carried on at Autonomous Systems Lab of ETH Zurich. The goal of this project is to develop a fast and precise robotic manipulator for aerial interaction. The omnidirectional MAV from ASL researchers is the aerial platform on which the manipulator will have to be mounted. First stage of the project involves an intensive literature research aimed at identifying those ideas and solutions which could fit our project requirements. From this review, the 3 DOF Delta parallel manipulator has been selected: lightness, reduced moving mass, precision and stiffness are the main advantages of this robotic manipulator. Subsequently, an extensive work has been focused on the study of robot kinematics and dynamics. A non linear optimization problem has been formulated to solve the synthesis task of geometric parameters by means of a so called genetic algorithm. Most of Delta mechanical components have been designed using CAD software and machined by 3D printing technology, while just few elements have been obtained by third party suppliers. Finite element analysis has been exploited for mechanical validation. Also system control has been taken into account: an inverse kinematics-base approach has been developed aimed at compensating for aerial platform pose errors and thus maintain end-effector position to millimetric accuracy. Lastly, real field tests have been run to evaluate system performances, data have been collected and presented to show positive and negative aspects of the designed system. Final conclusions about possible future improvements is the last contribution provided by this work.
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Palmi, Devis. "Improved repetitive control scheme and its application to a 1DOF lagrangian system." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
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The aim of this thesis work is the developement of a new and more flexible implementation scheme of the well-known repetitive control (RC).
Different innovative repetitive control schemes have been implemented in Simulink (introducing some signal elaboration such as a linear interpolation) and then simulated on a simple “pure delay” discrete-time system with no synchronization, and on a more complex and realistic 1DOF lagrangian system representing the four-bar linkage of the ACMEC project on which the repetitive control will be tested in practice.
A comparison between the standard schemes and the developed one is carried out and the differences are highlighted. In particular it is shown that the new implementations allows to work significantly better (lower residual error and faster transient) with respect to the classical schemes, in case of error period not multiple of the sampling time of the control. More than that they are easier to implement on digital platforms since the memory required is chosen independently from the error period (so from the machine speed) and from the sampling frequency of the control.
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Gemma, Lorenzo. "Analysis of the OPC UA communication standard applied to control systems architecture." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/20152/.
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The thesis offers an in-depth analysis on the OPC-UA communication protocol. In particular, we want to study and analyze the possibility of implementing this protocol on automatic machines currently on the market by effectively replacing the entire M2M communication architecture, or in any case by offering the possibility of creating a standard communication system in the Business layer of the hierarchy of the levels of communication.
In order to propose OPC-UA as a new communication system, the first part of the following thesis focuses on research and study of the protocol. In fact, thanks to the collection of data sheets, publications and other documentation available from seminars held in the past years by industry experts, who define the characteristics and properties of the standard, it was possible to fully learn the principle of operation.
Based on the study of this standard regulated by the IEC 62541 standard, specific tests were carried out on a test bench made with PLC of the main vendors currently on the market to test the potential of OPC-UA, thus giving a technical aspect to the second part of the following elaborate.
By considering the limitations imposed by software developers on the implementation of OPC-UA in the development environments of their PLCs, it was therefore possible to write software codes that tested the dynamism, scalability and communication performance between PLCs of different vendors connected together.
Finally, the results of the communication tests between the various platforms have been collected in tables and reported at the end of this document with the aim of evaluating and giving a technical response, followed by personal considerations, on the effective implementability of OPC-UA in the industry.
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Dabhi, Meet, and Karthik Ramanan Vaidyanathan. "Automation and synchronizationof traction assistance devices toimprove traction and steerability ofa construction truck." Thesis, KTH, Fordonsdynamik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-209198.
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Automotive development has always been need-based and the product of today is an evolutionover several decades and a diversied technology application to deliver better products to theend users. Steady increase in the deployment of on-board electronics and software is characterizedby the demand and stringent regulations. Today, almost every function on-board a modernvehicle is either monitored or controlled electronically.One such specic demand for AB Volvo arose out of construction trucks in the US market. Usersseldom have/had a view of the operational boundaries of the drivetrain components, resultingin inappropriate use causing damage, poor traction and steering performance. Also, AB Volvo'sstand-alone traction assistance functions were not suciently capable to handle the vehicle useconditions. Hence, the goal was set to automate and synchronize the traction assistance devicesand software functions to improve the traction and steerability under a variety of road conditions.The rst steps in this thesis involved understanding the drivetrain components from design andoperational boundary perspective. The function descriptions of the various traction softwarefunctions were reviewed and a development/integration plan drafted. A literature survey wascarried out seeking potential improvement in traction from dierential locking and also its eectson steerability. A benchmarking exercise was carried out to identify competitor and suppliertechnologies available for the traction device automation task.The focus was then shifted to developing and validating the traction controller in a simulationenvironment. Importance was given to modeling of drivetrain components and renement ofvehicle behavior to study and understand the eects of dierential locking and develop a differentiallock control strategy. The modeling also included creating dierent road segments toreplicate use environment and simulating vehicle performance in the same, to reduce test timeand costs. With well-correlated vehicle performance results, a dierential lock control strategywas developed and simulated to observe traction improvement. It was then implemented onan all-wheel drive construction truck using dSPACE Autobox to test, validate and rene thecontroller.Periodic test sessions carried out at Hallered proving ground, Sweden were important to re-ne the control strategy. Feedback from test drivers and inputs from cross-functional teamswere essential to develop a robust controller and the same was tested for vehicle suitability andrepeatability of results. When comparing with the existing traction software functions, the integrateddierential lock and transfer case lock controller showed signicantly better performanceunder most test conditions. Repeatable results proved the reliability of developed controller.The correlation between vehicle test scenarios and simulation environment results indicated theaccuracy of software models and control strategy, bi-directionally.Finally, the new traction assistance device controller function was demonstrated within ABVolvo to showcase the traction improvement and uncompromising steerability.
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Oliva, Federico. "Modelling, stability, and control of DAE numerical integration." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/20143/.
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This thesis deals with the integration of differential algebraic equations systems. Generally speaking the execution of numerical integration algorithms may introduce some errors, which could propagate ending up in a wrong description of system dynamics. This issue, named drifting, will be highlighted by dealing with a specific constrained mechanical system presenting. Such system consists of a looper, which is a mechanism used in the steel production to sense and control the tension acting on the material. The thesis unfolds as follows: a first section model the looper and inspects the main properties related to its joint space and singularities. A brief introduction to stability analysis on multidof systems is proposed. Then, the thesis proceeds analysing looper stability properties, eventually finding a globally asymptotic stable configuration. Lastly, the drifting is highlighted by numerical simulations. To solve this issue two control algorithms are proposed: the first is the Baumgarte algorithm and the second consists of a nonlinear stabilizer. A performance comparison of both algorithms is then presented at the end of the implementation description.
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Guerra, Enrico. "A Distributed Control Strategy for Satellite Formation Flying." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
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Satellite technologies have progressed significantly in the last years from the early experiments made by scientists in the last century. Nowadays, a challenging problem that attracts scientists, engineers and space agencies is the design of space missions composed of clusters of satellites. Therefore, achieving certain configurations for the members and granting synchronization of their attitude are of key importance. The topic of formation control is well known and discussed in robotic systems and aerial vehicles research and in this thesis is applied to clusters of spacecrafts. In the same field of coordination of multi-agent systems lies the attitude synchronization problem for satellites. Most of the control laws developed to achieve a desired formation consist of a centralized or hierarchical architecture, where one or more vehicles, called the leader, follow a predefined trajectory and other members of the formation, called the followers, track them. In this thesis, instead, a distributed control law for formation control and attitude synchronization of satellites is presented. In this way, the control does not lean on a single satellite of the group, thus being more robust. The exchange of information between the spacecrafts is represented and studied as a graph; many studies on distributed network extensively use this mathematical tool and a better analysis of the problem can be performed. Furthermore, the developed control law is applied to scenarios where the communication between interacting spacecrafts is not considered to be continuous but takes place only at certain instants of time. Finally, tests are presented to show the effectiveness of the control and how it reacts to different settings. A Simulink implementation is also developed to show interactive ways to control the formation and to test the behavior of the proposed control strategy to changes of reference formation.
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Rexhaj, Kastriot. "Siemens och Rockwell Automation : En jämförande studie mellan styrsystem." Thesis, Mittuniversitetet, Avdelningen för elektronikkonstruktion, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:miun:diva-30930.
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Detta arbete har syftat till att ställa två av de större automationstillverkarna Siemens och Rockwell Automation mot varandra kring utvalda faktorer som: prestanda, kommunikation och tillgängliga mjukvaruverktyg. Studien har utformat tester på olika PLC-enheter från respektive tillverkare, redogjort för skillnader i de erbjudna kommunikationslösningarna samt analyserat mjukvaruverktygen utifrån utvalda egenskaper men också internationellt erkända standarder. Undersökningen har visat på bättre prestanda på processorer från Rockwell Automation än motsvarande från Siemens för ett givet tillämpningsområde. Vad befattar kommunikationslösningar med ethernet-teknologi har Siemens visat på bättre prestanda, stabilare kommunikation och ett mer komplett ekosystem som svarar på flera av de behov som kan uppstå i industriverksamhet. Mjukvaruverktygen från Siemens erbjuder mer objekt-orienterad funktionalitet och har visat sig betydligt mer kompatibel med den väletablerade standarden IEC 61131-3 som utformar programmeringsmetodiker för PLC-enheter och är tänkt att svara mot framtidens behov av interoperabilitet och effektivisering. Av resultaten som fåtts har en bedömning gjorts att Siemens erbjuder ett mer fördelaktigt utbud av produkter och tjänster som svarar väl mot framtidens krav.This paper treats two competing suppliers of automation technology, Siemens and Rockwell Automation and directly compares them for a given set of factors in the following categories: performance, communication and software tools. The study consists of performance tests made on different PLC’s from these suppliers, considerations in the differences of communication technology and analysis of the programming tools according to chosen criteria’s but also by the degree of compliance with internationally established standards. The tests have shown the PLC from Rockwell Automation as having better performance for the chosen criteria (PLC’s for small to medium sized machines). Siemens offers more performance and more stable industrial ethernet communication over ProfiNET than does Rockwell Automation with EtherNet/IP. Accordingly, Siemens offers more flexibility in meeting future industrial needs. The software tools provided by Siemens offer a more object-oriented approach for programming PLC’s than equivalent tools from Rockwell Automation. TIA Portal offered by Siemens is more than twice as compliant with the internationally accepted standard IEC 61131-3 as Studio 5000 from Rockwell and in being more compliant benefits from increased interoperability and effective programming. The results show that Siemens’ products and services for automation benefits the customer in long term viability.
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Henriksson, Kim, and Patrik Hellström. "Vidareutveckling av granulat 3d-skrivare." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-34989.
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The average 3d-printer has a relatively small print surface which limits the sizeof the prints themselves and there is a void on the market for printers that can printparts as big as, for instance, a car bumper . This project aims to further advancethe construction of a large 3d-printer started by previous students at Halmstad University and focuses at print quality and accuracy.3d.skrivare 2.0 Utveckling av styrning/portal
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Brosnan, Timothy Myers. "Neural network and vector quantization classifiers for recognition and inspection applications." Thesis, Georgia Institute of Technology, 1997. http://hdl.handle.net/1853/15378.
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