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Perez, Cervantes Marcus Sebastian. "Issues of Control with Older Drivers and Future Automated Driving Systems." Research Showcase @ CMU, 2011. http://repository.cmu.edu/theses/21.
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It is inevitable that as a person ages they will encounter different physical and cognitive impairments as well as dynamic social issues. We started this project under the assumption that autonomous driving would greatly benefit the fastest growing population in developed countries, the elderly. However, the larger question at hand was how are older drivers going to interact with future automated driving systems? It was through the qualitative research we conducted that we were able to uncover the answer to this question; older drivers are not willing to give up “control” to autonomous cars. As interaction designers, we need to define what type of interactions need to occur in these future automated driving systems, so older drivers still feel independent and in control when driving.
Lawrence D. Burns, former Vice president of Research and Development at General Motors and author of Reinventing the Automobile Personal Urban Mobility for the 21st Century talks about two driving factors that will shape the future of the automobile. These factors are energy and connectivity (Burns et al., 2010). We would add a third one, which is control. If we address these three factors we might be able to bridge the gap between how we drive today and how we will drive in the future and thus create more cohesive future automated driving systems.
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Hugo, Etienne Martin. "Automated design of multi-mode fuzzy controllers." Thesis, Stellenbosch : Stellenbosch University, 2000. http://hdl.handle.net/10019.1/51631.
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Dissertation (PhD)--University of Stellenbosch, 2000.ENGLISH ABSTRACT: A standard fuzzy logic controller is not robust enough to guarantee consistent closed-loop performance for highly non-linear plants. A finely tuned closed-loop response loses relevance as the system dynamics change with operating conditions. The self-adaptive fuzzy logic controller can track changes in the system parameters and modify the controller parameters accordingly. In most cases, self-adaptive fuzzy logic controllers are complex and rely on some form of mathematical plant model. The multi-mode fuzzy logic controller extends the working range of a standard fuzzy logic controller by incorporating knowledge of the non-linear system dynamics into the control rule-base. The complexity of the controller and difficulty in finding control rules have limited the application of multi-mode fuzzy logic controllers. An automated design algorithm is proposed for the design of a multi-mode control rule-base using qualitative plant knowledge. The design algorithm is cost function-based. The closed-loop response, local to a domain of the non-linear state space, can be tuned by manipulation of the cost function weights. Global closed-loop response tuning can be done by manipulation of the controller input gains. Alternatively, a self-learning or self-adaptive algorithm can be used in a model reference adaptive control architecture to optimise the control rule-base. Control rules responsible for unacceptable closed-loop performance are identified and their consequences modified. The validity of the proposed design method is evaluated in five case studies. The case studies illustrate the advantages of the multi-mode fuzzy logic controller. The results indicate that the proposed self-adaptive algorithm can be used to optimise a rule-base given a required closed-loop specification. If the system does not conform to the model reference adaptive architecture then the intuitive nature of the cost function based design algorithm proves to be an effective method for rule-base tuning.
AFRIKAANSE OPSOMMING: Standaard wasige logika beheerders is nie noodwendig robuust genoeg om goeie geslote lus werkverrigting vir hoogs nie-liniere aanlegte te waarborg nie. In Perfek ge-optimeerde beheerder se geslote lus werkverrigting mag verswak indien die aanleg-parameters weens bedryfstoestande verander. Self-aanpassende beheerders kan die verandering in die aanleg-parameters volg en die beheerder dienooreenkomstig optimeer. As In reël is In self-aanpassende beheerder kompleks en afhanklik van In wiskundige model van die aanleg. Die multi-modus wasige logika beheerder vergroot die werksbereik van die standaard wasige logika beheerder deur kennis aangaande die stelsel se bedryfstoestand en stelselparameters in die reël-basis in te bou. Die aanwending van die multi-modus beheerder word tans beperk deur die struktuur kompleksiteit en moeilike optimering van die reël-basis. In Ge-outomatiseerde multi-modus reël-basis ontwerps-algoritme wat gebruik maak van kwalitatiewe kennis van die aanleg en In kostefunksie word in hierdie proefskrif voorgestel. Die geslote lus gedrag beperk tot In gebied in die toestands-ruimte kan ge-optimeer word deur die kostefunksie gewigte te manipuleer. Die globale werkverrigting kan ge-optimeer word met die beheerder intree aanwinste. In Self-aanpassende algoritme in In model-verwysings aanpassende argitektuur word as altematieftot reël-basis optimering voorgestel. Reëls verantwoordelik vir swak werkverrigting word ge-identifiseer en verbeter deur modifikasie van die reëls se gevolgtrekkings. Die voorgestelde ontwerps-metode word deur middel van vyf gevallestudies ondersoek. Die studies dui die voordele van die multi-modus struktuur aan. Die self-aanpassende argitektuur is In kragtige hulpbron om In reël-basis te optimeer vir In gegewe geslote lus spesifikasie. Hierdie proefskrif toon aan dat indien die stelsel nie aan die vereistes van In model verwysingstelsel voldoen nie, is die kostefunksie benadering tot reël-basis ontwerp In aantreklike en intuïtief verstaanbare opsie om die reël-basis te optimeer.
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Eaglesham, Mark A. "Automated storage and retrieval system design report." Master's thesis, Virginia Tech, 1995. http://hdl.handle.net/10919/43535.
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This report describes the design and operation of an Automated Storage and Retrieval System (AS/RS) to serve the Flexible Manufacturing and Assembly System (FMAS) in the Manufacturing Systems Laboratory at Virginia Tech. The system requirements of the AS/RS, justification of design choices, and the proposed modes of operating the system are described.
The AS/RS was designed to automatically move material on pallets between the storage racks in the laboratory to the FMAS conveyor interface. The system was designed and built, and has been tested to perform the desired operating functions. The scope of this project was limited to designing and installing the hardware component of the AS/RS, and testing it to ensure that it will satisfy the system requirements of the FMAS. The educational objective of the project is to enable fully automated control of all cell activities via the FMAS Computer Network.Master of Science
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Nanduru, Venkata Giri. "Ramp control strategies and geometric design implications of high-speed automated transportation systems." Thesis, This resource online, 1992. http://scholar.lib.vt.edu/theses/available/etd-09052009-040424/.
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Okaeme, Nnamdi. "Automated robust control system design for variable speed drives." Thesis, University of Nottingham, 2008. http://eprints.nottingham.ac.uk/10584/.
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Traditional PI controllers have been largely employed for the control of industrial variable speed drives due to the design ease and performance satisfaction they provide but, the problem is that these controllers do not always provide robust performance under variable loads. Existing solutions present themselves as complex control strategies that demand specialist expertise for their implementation. As a direct consequence, these factors have limited their adoption for the industrial control of drives. To counter this trend, the thesis proposes two techniques for robust control system design. The developed strategies employ particular Evolutionary Algorithms EA), which enable their simple and automated implementation. More specifically, the EA employed and tested are the Genetic Algorithms (GA), Bacterial Foraging (BF) and the novel Hybrid Bacterial Foraging, which combines specific desirable features of the GA and BF. The first technique, aptly termed Robust Experimental Control Design, employs the above mentioned EA in an automated trial-and-error approach that involves directly testing control parameters on the experimental drive system, while it operates under variable mechanical loads, evolving towards the best possible solutions to the control problem. The second strategy, Robust Identification-based Control Design, involves a GA system identification procedure employed in automatically defining an uncertainty model for the variable mechanical loads and, through the adoption of the Frequency Domain H-infinity Method in combination with the developed EA, robust controllers for drive systems are designed. The results that highlight the effectiveness of the robust control system design techniques are presented. Performance comparisons between the design techniques and amongst the employed EA are also shown. The developed techniques possess commercially viable qualities because they elude the need for skilled expertise in their implementation and are deployed in a simple and automated fashion.
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Hu, Wenshan. "Design of networked control systems and global Web-based control laboratory." Thesis, University of South Wales, 2008. https://pure.southwales.ac.uk/en/studentthesis/design-of-networked-control-systems-and-global-webbased-control-laboratory(0c8a2649-120a-494f-a887-defcaceed570).html.
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This thesis mainly focuses on two Internet based control applications. One is a networked control system (NCS) where the control loop is closed through the network. The other is the Networked Control System Laboratory (NCSLab) which is a global web based remote experimentation platform. The contribution in the first part of the thesis relates to the networked predictive control (NPC) which was first introduced by Liu et al. (2004). In this method, the controller uses the model predictive approach to predict a future control sequence and send it to the plant in a network packet. The plant side receives this packet and then determine the appropriate control signal to apply to the actuator according to the time delay measurement. This method is innovative and works well in theory, but it has two deficiencies in practical applications. The first deficiency is that it needs synchronization between the controller and plant side to measure the individual forward and feedback channel time delays and this is very hard to achieve on the Internet. In this thesis, a round-trip NPC is proposed in which the predictive calculations and signal selections are based on the round-trip delay. The measurement of the round-tip delay is achieved using the plant side clock only, so that the need for synchronization is avoided. The second deficiency is that the mathematical model has to be accurately known. Otherwise the accuracy of the predictive calculation is affected, which may result in a degraded control performance. An event-driven NPC scheme is introduced to solve this problem. In this scheme, the selection of the appropriate control signal is not based on the time delay measurement but on the previous system output. This method can compensate for the effect of model uncertainty, which has been verified by both simulations and real-time experiments. Some experiments carried out on other NPC schemes are also reported on in this thesis. They are the NPC in state-space form and nonlinear NPC. These methods expand the use of NPC methodology. The second part of the thesis describes the design and implementation of the Networked Control System Laboratory. The NCSLab is based in the University of Glamorgan but its test rigs are diversely located in four Institutions from both the UK and China. In order to manage these test rigs from different places, a four layer structure (Central Server/Regional Server/Sub-Server/Test Rig) is adopted. The four layers are integrated into one system via the Internet. In order to deliver the remote experimentation to the users, a web-based user interface is designed. It provides great flexibility to the users such as remote monitoring, remote tuning and remote control algorithms. The implementation of the user interface (UI) heavily adopts the AJAX technology, so the remote experiments can be conducted inside the web browsers without installing special plug-ins. In order to show how the NCSLab works, two examples are given in the thesis.
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Parpala, Dsouky Rami, and Albin Engver. "Automated rat trap for sewage systems : Design and development of a striking mechanism." Thesis, Luleå tekniska universitet, Institutionen för teknikvetenskap och matematik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-85206.
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This project is a master’s thesis in collaboration with Nomor, a company that offers pest control services. They had the need for the development of an automated mechanical rat trap for sewage systems. Brown rats populate the sewage systems in many cities, as it offers shelter and abundant food resources. Rats have been observed carrying various zoonotic diseases which are a health risk to people and animals, as rats may enter households via the sewage system. This report details the design and development process for a prototype for a striking mechanism, which will act as the foundation for a future trap. The process follows the theory described by Ulrich and Eppinger. The project resulted in the generation of 8 different concepts, which were screened down to a final pneumatic concept. The selected concept was then developed into a physical prototype, able to detect heat sources. A Simulink model was developed to support the detail design. The model calculates resulting impact energy from various input parameters, such as working pressure and moving mass. The prototype functions up to 3 bar with an impact energy of approximately 6 Joules.
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Fitzsimons, Philip Matthew. "Design of a helicopter automatic flight control system using adaptive control." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/16641.
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Bladh, Anna. "System Design of Automated Test Equipment for Electrical Control Units in Trucks." Thesis, KTH, Mikro- och nanosystemteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-157531.
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The high level of complexity in today’s electronic systems increases the demands on an advanced validation and verification process. Automated testing facilitates and improves regression testing (rerun of previously executed test cases to uncover and track new bugs) with increased coverage and reduced costs as a result. A vehicle contains multiple control units, each responsible for a specific part: the engine, brakes, gearbox etc. These intelligent systems must be tested thoroughly to ensure correct behavior - both under normal circumstances and when the vehicle is exposed to unexpected events such as electrical failure (short circuit, broken cables etc.). A breakout box, BOB, is a piece of testing equipment that can be used to induce electrical faults on the wiring of the control units. It is typically operated manually. The objective of this project is to develop an automated version, an ABOB. A prototype that could induce various faults on arbitrary cables of a control unit was developed. The faults were: short circuit to a variable voltage source with connected or disconnected load, replacement of real signals with simulated ones and open load. The breakout box also performed internal measurements and supplied the user with feedback information about whether or not the test case was successfully executed. Several generations of the system were developed, where the final product had hardware support for up to six connected ECU ports and the possibility to distribute control signals to 256 different ECU ports via a computer based application and a set of communicating microprocessors. This thesis project focuses on the software design of the ABOB. For further explanation of the hardware, the reader is advised to consult the report Hardware Synthesis of Automated Electrical Fault Testing in Trucks by Martin Orre.Komplexiteten i dagens elektroniska system ställer höga krav på verifierings- och valideringsmetoder. Testautomatisering underlättar och förbättrar regressionstestning (upprepning av tidigare utförda testfall för att upptäcka och spåra nya buggar) med ökad testtäckning och reducerade kostnader som följd. I ett fordon sitter ett flertal styrenheter vars ansvarsområden varierar: styrning utav motor, bromsar, växellåda osv. För att säkra att dessa enheter fungerar som de ska måste de testas noggrant - dels under normala förhållanden men också då de utsätts för påfrestningar såsom elektriska fel (kortslutning, avbrott osv.). En breakout box, BOB, är en typ av testutrustning vars syfte är att inducera fel på kablaget till styrenheter. Den sköts vanligtvis manuellt. Syftet med det här projektet är att ta fram en automatiserad breakout box, en ABOB. En prototyp som kunde inducera ett antal olika fel på godtyckliga kablar kopplade till en styrenhet togs fram. Felen var: kortslutning mot en variabel spänningskälla, simulering av en felaktig signal samt avbrott på kabel. Systemet hade också en återkopplingsmekanism som informerade användaren om huruvida ett testfall hade exekverats på korrekt sätt eller ej. Ett flertal generationer av hård- och mjukvarulösningar utvecklades, där den slutgiltiga produkten hade hårdvarustöd för upp till sex inkopplade ECU-portar och möjlighet att via en datorbaserad applikation samt ett nät av kommunicerande mikroprocessorer distribuera styrsignaler till upp till 256 ECU-portar. Detta examensarbete behandlar framtagningen av mjukvara för systemet. Den intresserade läsaren rekommenderas att även ta del av rapporten Hardware Synthesis of Automated Electrical Fault Testing in Trucks av Martin Orre, för kompletterande information om hårdvaran.
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Jeong, Daehwa. "Analysis and design of a discrete time repetitive control system /." Thesis, Connect to this title online; UW restricted, 1997. http://hdl.handle.net/1773/7079.
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Beargie, Aimee M. "Sliding mode control of a non-collocated flexible system." Thesis, Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/19306.
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Zhou, Huafeng, and 周華鋒. "Design of grid service-based power system control centers for future electricity systems." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2008. http://hub.hku.hk/bib/B40687429.
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Zhou, Huafeng. "Design of grid service-based power system control centers for future electricity systems." Click to view the E-thesis via HKUTO, 2008. http://sunzi.lib.hku.hk/hkuto/record/B40687429.
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Li, Ming-Yan. "Performance analysis and enhancement of proportional navigation guidance systems /." Title page, table of contents and abstract only, 1999. http://web4.library.adelaide.edu.au/theses/09ENS/09ensl693.pdf.
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James, Courtney D. "The design of robust multi-rate repetitive learning controllers with applications to practical systems." Diss., Georgia Institute of Technology, 1997. http://hdl.handle.net/1853/16104.
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Jaffe, Robert Stephen. "Fractional Representation Design of Dynamic Output Controllers for Multiple Time Scale Systems." PDXScholar, 1988. https://pdxscholar.library.pdx.edu/open_access_etds/1360.
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This dissertation addresses the design of controllers for multi variable finite-dimensional, linear, autonomous dynamical systems with distinct sets of slow and fast dynamics, which thus display multiple time scale behavior. It seeks, specifically, to compose overall controllers from lower-order dynamic output compensators, which are designed separately for slow and fast approximating models of the given plant. Reduction of the dynamic order of the design problem and the avoidance of numerically ill-conditioned interaction between modes of disparate orders of magnitude are among the patent advantages which pertain to such a design. As is well known, the explicit singularly perturbed systems, as a class, possess the multiple time scale property, while the broader class of implicit singularly perturbed systems and the multiple time scale systems are partially overlapping system classes. A composite state feedback controller scheme for the explicit singularly perturbed system has long been known. In connection with dynamic output controllers, however, only the case of the explicit singularly perturbed system with, restrictively, open-loop-stable fast dynamics has so far received attention in the literature. The dissertation, in providing a composite dynamic controller design suitable as well to the implicit singularly perturbed multiple time scale system, which furthermore is permitted to exhibit fast (or "parasitic") as well as slow (or "normal") open-loop instabilities, thus presents a more comprehensive dynamic controller strategy for this system than so far reported in the literature. Working with multivariable transfer functions, the dissertation applies certain fractional representation techniques of modem Algebraic System Theory to the frequency domain study of the multiple time scale system. Following the work of D. W. Luse and H. K. Khalil, we replace the transfer matrix of the multiple time scale system with two or more lower-order transfer functions, each of which has validity, in its own respective frequency range, as an approximation to the first. Following the work. of M. Vidyasagar, we write the rational transfer function of each of these approximating lower-order subsystems as a "fraction" over the Ring of proper and stable rational matrices. Parametrizations, in terms of "free" matrices belonging to this Ring, of the sets of stabilizing controllers for the lower-order subsystems :md the corresponding achievable stable closed-loop behaviors then enable the relevant design syntheses to be achieved. In this development we exploit, specifically, a Theorem proved by Luse and Khalil concerning the relation of the closed-loop poles in a feedback configuration of multiple time scale systems to the poles in corresponding lower-order closed-loop systems. The dissertation's novel contribution thus resides in (i) interpreting the Theorem of Luse and Khalil as the outline for a possible separate and-composite dynamic output controller strategy, and in (ii) adapting algebraic techniques derivative from Vidyasagar for actually realizing the putative strategy as a set of concretely implementable design procedures. Three specific design procedures are developed and formalized in the dissertation: the first for achieving mere stabilization of the multiple time scale system, the second for the placement of slow and fast poles within specified subregions of the Complex Plane, and the third for achieving entirely arbitrary pole placement. Since these procedures derive, methodologically, from Vidyasagar's fractional representations, they are intrinsically multivariable in character. Since the procedures are validated by the Theorem of Luse and Khalil, they are applicable, in principle, to the very broadest class of linear autonomous multiple time scale systems. The dissertation presents its three design procedures in high-Ievel-algorized form. For application to the explicit singularly perturbed system, the three procedures entail no further matrix operations than addition, multiplication, inversion and the determination of linear constant controller and observer gains, the most basic of operations in any available Control software. In connection with the implicitly singularly perturbed multiple time scale system, their concrete application requires some further computational development pertaining to the attainment of coprime factorizations of general rational matrices, a topic of independent active interest in the current literature on Control. Elsewhere in the literature, singularly perturbed discrete time, distributed, multidimensional, time-varying and nonlinear systems have been studied. Such systems have been studied, furthermore, in several contexts involving optimal and stochastic control, but nearly always from the time domain point of view. The dissertation tackles only the problems of robust stabilization and pole placement in the finite-dimensional, linear, autonomous case. Future work will attempt to extend its results on stabilization and pole-placement, appropriately, to some of the other general multiple time scale system classes. Further frequency domain investigations, related to the dissertation, may as well explore other problems pertaining to the multiple time scale systems which so far have received treatment only in the available time domain literature.
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Bruseberg, Anne. "Establishing knowledge and skill in a novel system-supervisory task : an application to automated mail sorting." Thesis, Loughborough University, 1998. https://dspace.lboro.ac.uk/2134/32457.
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This thesis aims to establish methods for identifying and training the knowledge and skills of operating a novel automated system still undergoing final design and construction. The absence of operating experience requires the characteristics of the system to be examined so that the future tasks of supervisors can be anticipated in order to address human factors design. This work is carried out in the context of an 'Integrated Mail Processor' (IMP)—a highly automated letter sorting machine being developed by Royal Mail.
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Mkondweni, Ncedo Sandiso. "Design and implementation of linear robust networked control systems." Thesis, Cape Peninsula University of Technology, 2013. http://hdl.handle.net/20.500.11838/1195.
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Thesis submitted in fulfilment of the requirements for the degree
Doctor of Technology: Electrical Engineering
in the Faculty of Engineering
at the Cape Peninsula University of Technology, 2013Networked Control Systems is a control system where the plant and the controller exchange information via a shared communication network and the network is considered as part of the closed loop control system. Unfortunately the network introduces network induced random varying time delays and data packet loss amongst the communication network imperfections. The network delays are considered to be between the controller and the actuator and between the sensor and the controller. These network imperfections degrade the performance of the closed loop control system and result in closed loop system instability. The complexity of measuring the communication network imperfection in networked control systems makes it difficult for the control engineers to develop methods for design of controllers that can incorporate and compensate these imperfections in order to improve the performance of the networked control systems. In this thesis a co-simulation toolset called LabNS2 is developed to address the first problem of measuring the communication network imperfections by providing an ideal environment that can be used to investigate the influence of network time delays or packet loss. The software environment of the toolset is based on LabVIEWTM and Network Simulator Version 2 (NS2). A new robust predictive optimal controller design method is developed to address the problem of the destabilising effect of the network induced time delay between the controller and the actuator. The design approach is based on time shifting of the optimisation horizon and a state predictor. The design of the controller is based on a model of the plant with delay in the control vector equal to the delay between the controller and the actuator or to the sum of the delays between the controller and the actuator and between the sensor and the controller. The time shifting approach allows the design of the controller to be performed for a model without time delay. Then the control action is based on the future values of the state space vector estimates. The state predictor is developed to predict these future values of the state using the present and past values of the state estimates and control actions. This technique is made possible by the use of the plant model Transition Matrix. A Discrete Kalman Filter is modified to address the problem of the destabilising effect of the network induced time delay between the sensor and the controller. An additional state estimation vector is added to the filter estimate at every current moment of time. iv The developed methods are implemented for networked control of a dish antenna driven by two stepper motors. The outcomes of the thesis can be used for the education and fundamental research purposes, but the developed control strategies have significant sense towards the Square Kilometer Array projects and satellite systems industry.
National Research Foundation
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Aquaro, Matthew. "Systems engineering in practice : the application of systems engineering principles to the development of a hydraulic control system for an automatic transmission." Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/44701.
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Thesis (S.M.)--Massachusetts Institute of Technology, System Design and Management Program, 2008.Includes bibliographical references (p. 71).
Product development in the automotive industry has evolved around the design of components. The organization is established around components and people have a very component centric perspective on problem solving. This has led to local optimization of individual components, while the larger system spirals out of control. The penalty is often measured in terms of development time and cost. New programs are given autonomy to make independent choices without regard for what other programs are doing, which leads to a wide variety of architectures put into place. Program managers and functional managers have different prioritizations. Furthermore, new designs are provided by a separate organization from the group responsible for implementation. They have a very different value system and are unaware of the difficulties experienced in the implementation phase. This type of practice leads to programs nearing production deadlines with poorly optimized systems. Engineers must relearn due to the lack of standardization across program. The team absorbs additional resources from within to fix issues prior to launch. The robbing of resources leads to delays in subsequent programs and the cycle repeats itself. These issues are partly cultural, part organizational, part due to lack of understanding of systems engineering. A new organization is designed, which strengthen the systems perspective and give power to a new role in the organization, the Systems Engineer. The Systems Engineer is chartered with global optimization of the entire system, which includes both functional aspects as well as business aspects like resource availability, development cost and time. They are responsible for developing the complete system, from concept to final implementation. The Design Structure Matrix (DSM) shows the boundaries of the system and reveals new areas where the Systems Engineer can influence the design at lower cost to the organization.
(cont.) The Robustness Checklist, standardization and Systems Architecture provide Systems Engineers tools to change from a component mindset to a systems mindset and to optimize the system as a whole.
by Matthew J. Aquaro.
S.M.
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Bideci, Suleyman. "Control System Design For A Haptic Device." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608837/index.pdf.
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In this thesis, development of a control system is aimed for a 1 DOF haptic device,
namely Haptic Box. Besides, it is also constructed. Haptic devices are the
manipulators that reflect the interaction forces with virtual or remote environments to
its users. In order to reflect stiffness, damping and inertial forces on a haptic device
position, velocity and acceleration measurements are required. The only motion
sensor in the system is an incremental optical encoder attached to the back of the DC
motor. The encoder is a good position sensor but velocity and acceleration
estimations from discrete position and time data is a challenging work. To estimate
velocity and acceleration some methods in the literature are employed on the Haptic
Box and it is concluded that Kalman filtering gives the best results. After the velocity
and acceleration estimations are acquired haptic control algorithms are tried
experimentally. Finally, a virtual environment application is presented.
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Rogers, Craig N. "Object-oriented design of an automated calibration system for an analog I/O process control device." [Denver, Colo.] : Regis University, 2006. http://165.236.235.140/lib/CRogers2007.pdf.
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Nådin, Mikael, and Kristian Ericsson. "Utveckling av Reglersystem för ett Labyrintspel : Modellbaserad design i praktiken." Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-157630.
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This thesis evaluates two automatic control systems, PID and LQ, for the purpose of controlling the steel marble in a Brio labyrinth game. The objective has been for these automatic control strategies to bring the marble through the labyrinth and examine how well they handle this problem. A mathematical model of the problem was derived and a detailed model of the labyrinth game was established in Mathworks software Simscape to streamline the development of the structural design and control system. Based on the Simscape model, the labyrinth game was modified with hardware necessary to perform the task. Before the development of the control system commenced, tests were carried out to study the marbles movement in the two models compared with the labyrinth game. This proved that the friction in the labyrinth game is non-linear compared to the models which both showed similar behavior. The control system was then implemented to be tested and evaluated in the Simscape model as well as the labyrinth game. In the Simscape model, they both perform equally well and the PID- and LQ-controller can easily bring the marble through the labyrinth. In the labyrinth game, the LQ controller succeeds in bringing the marble through the labyrinth in 45\% of cases, while the corresponding for the PID controller is 25\%. The LQ controller was the one that generally had the best performance and was able to handle the marbles movement despite the non-linearities. The PID controller's performance was poorer, which is largely due to said non-linearities but also noise in the system, which the LQ controller is not affected as much by. The study shows that non-linearities such as friction are difficult to model. The model-based design is a good method but can be time consuming and the end result can make it difficult to motivate in many cases.
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Olsson, Claes. "Active Vibration Control of Multibody Systems : Application to Automotive Design." Doctoral thesis, Uppsala : Acta Universitatis Upsaliensis : Univ.-bibl. [distributör], 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-5818.
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Avgan, Utku. "Design And Control Of A Self-parking Model Car." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1094648/index.pdf.
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A fuzzy logic control algorithm for self parking of a model car has been developed and an embedded controller hardware has been designed, manufactured and programmed to control parking maneuvers of a model car within the scope of
this thesis study.
The model car chassis consists of a DC motor actuated traction system and a servomotor actuated steering mechanism. Position data and parking place data is obtained by a sensory system. A stepper motor driven rotary table is designed and assembled to the model car chassis for positioning of the sensory system. The controller hardware includes all the required peripherals for interfacing to the
motors and sensory system.
A visual computer program running in PC environment is developed in order to simulate the control characteristics of the fuzzy logic algorithm. The program allows the user to generate fuzzy sets and fuzzy set members and allows the user to define membership functions and fuzzy rules. Once an appropriate control characteristic is obtained, all the parameters can be exported to a file in order to be downloaded to the controller.
25
Zhao, Jing. "Design, control and testing of a novel hybrid active air suspension system for automobiles." Thesis, University of Macau, 2017. http://umaclib3.umac.mo/record=b3691888.
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Dang, Anh X. H. "Theoretical and experimental development of an active acceleration compensation platform manipulator for transport of delicate objects." Diss., Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/17277.
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Serdar, Usenmez. "Design Of An Integrated Hardware-in-the-loop Simulation System." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/2/12612051/index.pdf.
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This thesis aims to propose multiple methods for performing a hardware-in-the-loop simulation, providing the hardware and software tools necessary for design and execution. For this purpose, methods of modeling commonly encountered dynamical system components are explored and techniques suitable for calculating the states of the modeled system are presented. Modules and subsystems that enable the realization of a hardware-in-the-loop simulation application and its interfacing with external controller hardware are explained. The thesis also presents three different simulation scenarios. Solutions suitable for these scenarios are provided along with their implementations. The details and specifications of the developed software packages and hardware platforms are given. The provided results illustrate the advantages and disadvantages of the approaches used in these solutions.
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Oktay, Gorkem. "Design And Simulation Of A Traction Control System For An Integrated Active Safety System For Road Vehicles." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/2/12610204/index.pdf.
Full textAbstract:
Active safety systems for road vehicles make a crucial preventive contribution to road safety. In recent years, technological developments and the increasing demand for road safety have resulted in the integration and cooperation of these individual active safety systems. Traction control system (TCS) is one of these individual systems, which is capable of inhibiting wheel-spin during acceleration of the vehicle on slippery surfaces.
In this thesis, design methodology and simulation results of a traction control system for four wheeled road vehicles are presented. The objective of the TCS controller is basically to improve directional stability, steer-ability and acceleration performance of vehicle by controlling the wheel slip during acceleration.
In this study, the designed traction control system based on fuzzy logic is composed of an engine torque controller and a slip controller. Reference wheel slip values were estimated from the longitudinal acceleration data of the vehicle. Engine torque controller determines the throttle opening angle corresponding to the desired wheel torque, which is determined by a slip controller to track the reference slip signals. The wheel torques delivered by the engine are compensated by brake torques according to the desired wheel torque determined by the slip controller. Performance of the TCS controller was analyzed through several simulations held in MATLAB/Simulink for different road conditions during straight line acceleration and combined acceleration and steering. For simulations, an 8 DOF nonlinear vehicle model with nonlinear tires and a 2 DOF nonlinear engine model were built.
29
Lewis, W. Ivan. "DACS: an interactive computer program to aid in the design and analysis of linear control systems." Thesis, Virginia Polytechnic Institute and State University, 1985. http://hdl.handle.net/10919/76039.
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DACS is an interactive computer program for the IBM-PC that aids in the design and analysis of linear control systems. Written in compiled basic, DACS includes Root Locus, Bode plots, Nyquist diagrams, Nichols charts, system simulation, and calculates the system time response in closed-form. The state-space description is used in the simulation and time response segments while the system transfer function is used in the root locus and frequency response segments. Calculated data may be displayed in either graphical or tabular form. Graphics features of DACS include automatic-scaling, zooming, graph coordinates derived from cursor location, graphics screen dumps to disk or printer, and redisplaying of disk files. DACS is menu driven and the majority of input/output is accomplished through the function keys. All system models and data may be saved on and recalled from disk. Help screens, three levels of sound, color, and session archiving are also provided. DACS provides a wide variety of linear control system analysis tools for the engineering desktop.Master of Science
30
Tekin, Gokhan. "Design And Simulation Of An Integrated Active Yaw Control System For Road Vehicles." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/12609243/index.pdf.
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Active vehicle safety systems for road vehicles play an important role in accident prevention. In recent years, rapid developments have been observed in this area with advancing technology and electronic control systems. Active yaw control is one of these subjects, which aims to control the vehicle in case of any impending spinning or plowing during rapid and/or sharp maneuver. In addition to the development of these systems, integration and cooperation of these independent control mechanisms constitutes the current trend in active vehicle safety systems design.
In this thesis, design methodology and simulation results of an active yaw control system for two axle road vehicles have been presented. Main objective of the yaw control system is to estimate the desired yaw behavior of the vehicle according to the demand of the driver and track this desired behavior accurately.
The design procedure follows a progressive method, which first aims to design the yaw control scheme without regarding any other stability parameters, followed by the development of the designed control scheme via taking other stability parameters such vehicle sideslip angle into consideration. A two degree of freedom vehicle model (commonly known as &ldquoBicycle Model&rdquo
) is employed to model the desired vehicle behavior. The design of the controller is based on Fuzzy Logic Control, which has proved itself useful for complex nonlinear design problems. Afterwards, the proposed yaw controller has been modified in order to limit the vehicle sideslip angle as well. Integration of the designed active yaw control system with other safety systems such as Anti-Lock Braking System (ABS) and Traction Control System (TCS) is another subject of this study. A fuzzy logic based wheel slip controller has also been included in the study in order to integrate two different independent active systems to each other, which, in fact, is a general design approach for real life applications. This integration actually aims to initiate and develop the integration procedure of the active yaw control system with the (ABS). An eight degree of freedom detailed vehicle model with nonlinear tire model is utilized to represent the real vehicle in order to ensure the validity of the results. The simulation is held in MATLAB/Simulink environment, which has provided versatile design and simulation capabilities for this study. Wide-ranging simulations include various maneuvers with different road conditions have been performed in order to demonstrate the performance of the proposed controller.
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Shean, Barry John. "The design of an automated froth flotation optimising control system, based on the maximisation of air recovery through air flowrate variation." Thesis, Imperial College London, 2012. http://hdl.handle.net/10044/1/39852.
Full textAbstract:
Mineral froth flotation is one of the most broadly used separation methods in the mineral processing industry. Despite being introduced in the early 1900's, and numerous years of research and development, flotation is still not fully understood and remains relatively inefficient. Consequently, large economic gains stand to be made through optimisation of present processes. Although numerous years of research into the automation of froth flotation control have been conducted to increase process efficiency, options for advanced and/or optimising control systems remain limited. One proposed reason for this is the use of complicated and/or unclear control system goals; with many systems trying simultaneously to maximise the mineral recovery and concentrate grade (despite these two parameters being generally counter-correlated). However, the recent introduction of a new parameter - the air recovery - that gives an indication of the overall process performance, offers significant potential within flotation process control, as this is a single variable that can be measured rapidly online, and maximised. Moreover, it has been discovered that for flotation systems a peak in air recovery (or PAR) exists with increasing air flowrate, and that operating at this PAR air flowrate has metallurgical benefits. Thus, this PhD thesis aimed to develop and design an online PAR seeking control system that - for a single cell and through air flowrate manipulation - is able to drive the air flowrate towards the value that yields PAR (and hence the optimal operating conditions). This strategy represents a completely novel approach to flotation control, and is expected to have exciting industrial implications. The first step to achieving an online PAR seeking control system was the development of an online air recovery measurement system. This system - which makes use of air flowrate, froth velocity and froth height measurements - was trialled on both laboratory and industrial scale flotation systems, with good results being obtained. Subsequently, a review of numerical methods for the optimisation of 'unknown objective functions' - such as an air recovery curve - was conducted. This review highlighted a branch of methods known as 'direct search methods'. Four of the more commonly known methods were integrated into PAR seeking control algorithms, and trialled on a model of the laboratory flotation system. These tests included starting below, above and at PAR, and also examined the effects of noise in the measured raw data and of disturbances to the air recovery curve. One method in particular, the Generating Set Search (or GSS) method, which is renowned for being simple, yet reliable and robust, was found to perform well under all conditions. This GSS-based PAR seeking control system was then tested experimentally on a laboratory flotation system. The results were again promising, with the control algorithm being found to handle noisy data, unstable conditions and large step change disturbances in the objective function. This good performance is largely attributed to the simple and non-assuming nature of the algorithm. It recommended that this GSS-based PAR seeking control system be trialled, and potentially implemented, on the industrial scale for the optimisation of flotation systems.
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Hou, Zhicheng. "Modeling and formation controller design for multi-quadrotor systems with leader-follower configuration." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2259/document.
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Cette thèse propose des solutions aux problématiques inhérentes au contrôle de formations aériennes de type leader-suiveur pour des flottes de quadrirotors. Au regard des travaux existants, les stratégies qui sont proposés dans notre travail, considère que le(s) leader{s) a une interaction avec les suiveurs. En outre, les rôles de leader et de suiveur sont interchangeables lors de la formation. Dans un premier temps, la modélisation mathématique d'un seul quadrirotor et celle de la formation de quadrirotors est développée. Ensuite, le problème de suivi de trajectoire pour un seul quadrirotor est étudié. Au travers de l'analyse de 1, dynamique du système pour la conception d'une commande par platitude, il apparait que le suivi de trajectoire pour chaque quadrirotor équivaut à déterminer les sorties plates désirées. Un contrôleur pour système plats permettant l'asservissement des drones pour le suivi de trajectoire est donc proposé. Étant donné la propriété de double-boucle de la dynamique du quadrirotor en boucle fermée, un contrôleur d'attitude avec des grands gains est conçu, selon la théorie « singular perturbation system ». Puisque la dynamique du quadrirotor en boucle fermée fonctionne sur deux échelles de temps, la dynamique de rotation (boundary-layer mode) est contrôlée sur l'échelle de temps la plus rapide. La conception du contrôleur de formation dépend seulement de la dynamique de translation (modèle réduit dans une échelle de temps lente). Ce résultat a simplifié la conception du contrôleur de formation, de telle sorte que le modèle réduit du quadrirotor est utilisé au lieu du modèle complet. Étant donné que le modèle réduit du quadrirotor a une caractéristique de double-intégrateur, un algorithme de consensus pour des systèmes caractérisés par de multiple double-intégrateurs est proposé. Pour traiter le problème de la formation leader-suiveur, une matrice d'interaction est initialement proposée basée sur la matrice de Laplacienne. Nous montrons que la condition de convergence et la vitesse de convergence de l'erreur de formation dépendent de la plus petite valeur propre de la matrice d'interaction. Trois stratégies de contrôle de la formation avec une topologie fixe sont ensuite proposées. Le contrôle de formation par platitude est proposé pour obtenir une formation agressive, tandis que les dérivées de grands ordres de la trajectoire désirée pour chaque UAV sont estimées en utilisant un observateur; la méthode Lyapunov redesign est implémentée pour traiter les non-linéarités de la dynamique de la translation des quadrotors; une loi de commande bornée par l'utilisation, entre autre, de la fonction tangente hyperbolique est développée avec un feedback composite non linéaire, afin d'améliorer les performances de la formation. De plus, une commande de commutation saturée de la formation est étudiée, car la topologie de la formation est variable. La stabilité du système est obtenue grâce aux théories “convex hull » et « common Lyapunov function ». Cette stratégie de commande de commutation permet le changement des leaders dans la formation. Inspirée par certains travaux existants, tels que le contrôle de la formation avec des voisins anonymes, nous proposons, finalement, une loi de commande avec des voisins pondérés, qui montre une meilleure robustesse que le contrôle avec des voisins anonymes. Les résultats de simulation obtenus avec Matlab illustrent premièrement nos stratégies de contrôle que nous proposons De plus, en utilisant le langage de programmation C ++, nos stratégies sont mises en œuvre dans un framework de simulation et d'expérimentation développé au laboratoire Heudiasyc. Grâce aux nombreux tests variés que nous avons réalisés en simulation et en temps-réel, l'efficacité et les avantages de nos stratégies de contrôle de la formation proposées sont présentésIn this thesis, we address a leader-follower (L-F) formation control problem for multiple UAVs, especially quadrotors. Different from existing works, the strategies, which are proposed in our work, consider that the leader(s) have interaction with the followers. Additionally, the leader(s) are changeable during the formation. First, the mathematical modeling of a single quadrotor and of the formation of quadrotors is developed. The trajectory tracking problem for a single quadrotor is investigated. Through the analysis of the flatness of the quadrotor dynamical model, the desired trajectory for each quadrotor is transferred to the design of the desired at outputs. A flatness-based trajectory tracking controller is, then, proposed. Considering the double-loop property of the closed-loop quadrotor dynamics, a high-gain attitude controller is designed, according to the singular perturbation system theory. Since the closed-loop quadrotor dynamics performs in two time scales, the rotational dynamics (boundary-layer model) is controlled in a fast time scale. The formation controller design is then only considered for the translational dynamics: reduced model in a slow time scale. This result has simplified the formation controller design such that the reduced model of the quadrotor is considered instead of the complete model. Since the reduced model of the quadrotor has a double-integrator characteristic, consensus algorithm for multiple double-integrator systems is proposed. Dealing with the leader-follower formation problem, an interaction matrix is originally proposed based on the Laplacian matrix. We prove that the convergence condition and convergence speed of the formation error are in terms of the smallest eigenvalue of the interaction matrix. Three formation control strategies with fixed formation topology are then proposed. The flatness-based formation control is proposed to deal with the aggressive formation problem, while the high-order derivatives of the desired trajectory for each UAV are estimated by using an observer; the Lyapunov redesign is developed to deal with the nonlinearities of the translational dynamics of the quadrotors; the hyperbolic tangent-based bounded control with composite nonlinear feedback is developed in order to improve the performance of the formation. In an additional way, a saturated switching control of the formation is investigated, where the formation topology is switching. The stability of the system is obtained by introducing the convex hull theory and the common Lyapunov function. This switching control strategy permits the change of the leaders in the formation. Inspired by some existing works, such as the anonymous neighbor-based formation control, we finally propose a weighted neighbor-based control, which shows better robustness than the anonymous neighbor-based control. Simulation results using Matlab primarily illustrate our proposed formation control strategies. Furthermore, using C++ programming, our strategies are implemented on the simulator-experiment framework, developed at Heudiasyc laboratory. Through a variety of tests on the simulator and real-time experiments, the efficiency and the advantages of our proposed formation control strategies are shown. Finally, a vision-based inter-distance detection system is developed. This system is composed by an on-board camera, infrared LEDs and an infrared filter. The idea is to detect the UAVs and calculate the inter-distance by calculating the area of the special LEDs patterns. This algorithm is validated on a PC, with a webcam and primarily implemented on a real quadrotor
33
Torres-Chazaro, Octavio F. "Design and evaluation of CNC-user interfaces." Diss., Virginia Tech, 1992. http://hdl.handle.net/10919/39787.
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34
Teitelbaum, Aryeh Roberto, and a_hay@jct ac il. "Arts'Codes: A New Methodology for the Development of Real-Time Embedded Applications for Control Systems." RMIT University. Accounting and Law, 2007. http://adt.lib.rmit.edu.au/adt/public/adt-VIT20071219.094115.
Full textAbstract:
Embedded real-time applications have to allow interaction between the control computer and the controlled environment. Controlling the environment requires in particular to take into account its time constraints and critical logical conditions. One of the main programmer efforts in real-time application's development is to trace the incoming events, and to perform reactions based on the current system status, according to the application requirements. All this have to be handled, although external events may come in the middle of a critical reaction, which may disturb it. This problem involves two difficulties: X The cognitive efforts to percept the problem, and consequently to express the solution. X The correct translation of this solution to code. Two requirements were defined in this research in order to achieve high-quality performance: clearness and robustness, clearness in the design, and robustness in the execution. In this work the author proposes a methodology and a tool for real-time application's development that uses or implies an innovated form of design based on natural-cognitive researches. This design method has clear compilation's rules to produce an Object-Oriented light-code, suitable for embedded platforms. These compilation's rules introduce to the code implicit security and synchronization's elements, to support robust execution. In this methodology, clear development phases were defined, using a high-degree of reuse and even polymorphism, which were emphasized in the research. Several existing ideas were improved/adapted and synthesized together with the author's innovation, creating the Arts'Codes method for real-time application development. The work includes cognitive evaluations, assuring the natural skills of the design. Arts'Codes method proposes a natural VPL (Visual Programming Language) for real-time applications, based on hierarchic components. This VPL is built on a minimum of diagrams: one for the static architecture and one for the dynamic behaviour, with a similar restricted notation at all levels. These two diagrams (static architecture and dynamic behaviour) are interleaved in a unified view. This method was implemented by building a suitable graphic editor, which automatically compiles the applications diagrams in a light and robust Object-Oriented code (based on Parallel Automata FSM), and by building an execution compact software platform. Furthermore, the parallel automata FSM are translated automatically in PTL temporal formula defining the goals and the behaviours of the components, permitting to prove a-priory that the components behaviours are consistent to their goals. The execution platform is based on a restricted implementation of the synchrony hypothesis and on a powerful model of execution: the parallel automata FSM. These Parallel Automata describe the dynamic behaviours of the components and allows implementing run-time exceptions handling too. In addition, the research proposes a tri-processor execution hardware platform, which supports a hybrid synchronous/multi-threading execution. This method will contribute to versatile, clear and robust real-time application's development.
35
Rensfelt, Agnes. "Viscoelastic Materials : Identification and Experiment Design." Doctoral thesis, Uppsala : Acta Universitatis Upsaliensis, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-111283.
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Guner, Berkay. "Design And Construction Of An Educational Pump Bench With Operational Controls." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12605754/index.pdf.
Full textAbstract:
System characteristics of automated pumping systems may change due to wear,
aging of piping, and accumulation of deposits in the system and/or due to
configuration changes. Such changes might result in conflicts between the controlling
algorithms and the actual system requirements for each particular case. The said
mismatch between the actual physical system and the software controlling it, may
result in inefficient operation of the pump which may even lead to total system
failures (overpressurization of instrumentation and sensing elements etc.) due to
temporary malfunctioning of the system components or permanent damages incurred
by them during operating under unsuitable conditions.
It is intended in this study to design and construct an experimental automated pump
bench with operational components (mechanical, electronical and instrumentation
etc.), serving in a system introducing multiple geometric heads and its controlling and
monitoring software in order to visualize effects of the above-mentioned cases for
education and training purposes.
System characteristics data acquisition module (system test module) provides the
means of recognizing new pump and system characteristics, provided that they were
changed due to some reason (throttled valve, changed pump speed, changed
flowrate or elevation of discharge etc.). Then the pump operation module enables
users to make comparative judgments by observing the effects of the abovementioned
changes.
Above-mentioned testing sequence and monitoring of changing physical quantities
were achieved by employing four pressure transducers, a custom made DC motor
operated -throttling valve with position feedback which was designed and constructed
specifically for this study and a variable frequency drive (VFD) which were all
connected to a custom made Main Control Circuit (MCC) Board.
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Blankenship, T. Keith III. "Design and Implementation of a Pilot Signal Scanning Receiver for CDMA Personal Communication Services Systems." Thesis, Virginia Tech, 1998. http://hdl.handle.net/10919/36682.
Full textAbstract:
In cellular and personal communications services (PCS)
systems based on code division multiple access (CDMA),
a pilot signal is used on the forward link for
synchronization, coherent detection, soft handoff,
maintaining orthogonality between base stations, and,
in the future, position location. It is critical that
the percentage of power allocated to the pilot signal
transmitted by each base station be fixed properly to
ensure the ability of the CDMA network to support
subscriber demand.
This thesis reports on the design and implementation of a prototype receiver for measuring pilot signals in CDMA PCS systems. Since the pseudonoise (PN) signal of the pilot channel is a priori information, the receiver searches for pilot signals by digitally correlating the received signal with this known, locally generated pilot signal. By systematically changing the phase of this locally generated pilot signal, the receiver scans the received signal to identify all possible signs of pilot signal activity. Large values of correlation indicate the presence of a pilot signal at the particular phase of the locally generated pilot signal. The receiver can also detect multipath components of the pilot signal transmitted from a given base station.
One issue associated with this receiver is its ability to keep the signal power within the dynamic range of the analog-to-digital (A/D) converter at its input. This necessitated the design of an automatic gain control (AGC) mechanism, which is digitally implemented in this receiver.
Simulation studies were undertaken to assist in the design and implementation of the pilot signal scanning receiver. These simulations were used to quantify how various non-idealities related to the radio frequency (RF) front-end and A/D converter adversely affect the ability of the digital signal processing algorithms to detect and measure pilot signals.
Because the period of the pilot signal is relatively
long, methods were developed to keep the receiver's
update period as small as possible without compromising
its detection ability. Furthermore, the high sampling
rate required strains the ability of the digital logic
to produce outputs at a rate commensurate with
real-time operation. This thesis presents techniques
that allow the pilot signal scanning receiver to achieve
real-time operation. These techniques involve the
judicious use of partial correlations and windowing the
received signal to decrease the transfer rate from the
A/D converter to the digital signal processor. This
thesis provides a comprehensive discussion of these
and other issues associated with the actual hardware
implementation of the pilot signal scanning receiver.
Master of Science
38
Ulusal, Nejat. "Conceptual Design Of A Model Support System And Its Controller For Ankara Wind Tunnel." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606951/index.pdf.
Full textAbstract:
Ankara Wind Tunnel (AWT) operated by TÜBiTAK-SAGE is the only big sized wind tunnel in Turkey. The AWT was constructed in late 1940&rsquo
s but was not operated until 1993 when the tunnel was turned over TÜ
BiTAK-SAGE. Since 1993, a series of modernization work has been undergoing in order to match the demands of the 21st century. In wind tunnels, models are positioned by special mechanisms that are instrumented to get the test data specific to the test performed. Models are assembled from their rear sides on these mechanisms called model support systems in order not to influence the flow around them. In this thesis, a conceptual design of a 6 degrees-of-freedom model support system for AWT is accomplished. A detailed system model is developed for the controller design. A force controller to perform store separation tests in real time is designed, tuned, and validated with computer simulations.
39
Podhradský, Michal. "A Multi-Agent System for Adaptive Control of a Flapping-Wing Micro Air Vehicle." PDXScholar, 2016. https://pdxscholar.library.pdx.edu/open_access_etds/3291.
Full textAbstract:
Biomimetic flapping-wing vehicles have attracted recent interest because of their numerous potential military and civilian applications. In this dissertation is described the design of a multi-agent adaptive controller for such a vehicle. This controller is responsible for estimating the vehicle pose (position and orientation) and then generating four parameters needed for split-cycle control of wing movements to correct pose errors. These parameters are produced via a subsumption architecture rule base. The control strategy is fault tolerant. Using an online learning process, an agent continuously monitors the vehicle's behavior and initiates diagnostics if the behavior has degraded. This agent can then autonomously adapt the rule base if necessary. Each rule base is constructed using a combination of extrinsic and intrinsic evolution. Details of the vehicle, the multi-agent system architecture, agent task scheduling, rule base design, and vehicle control are provided.
40
Kureksiz, Funda. "A Real Time Test Setup Design And Realization For Performance Verification Of Controller Designs For Unmanned Air Vehichles." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/2/12609393/index.pdf.
Full textAbstract:
In this thesis, a test platform based on real-time facilities and embedded software is designed to verify the performance of a controller model in real time. By the help of this platform, design errors can be detected earlier and possible problems can be solved cost-effectively without interrupting the development process.
An unmanned combat air vehicle (UCAV) model is taken as a plant model due to its importance in current and future military operations. Among several autopilot modes, the altitude hold mode is selected since it is an important pilot-relief mode and widely used in aviation. A discrete PID controller is designed in MATLAB/Simulink environment for using in verification studies. To control the dynamic system in wide range, a gain scheduling is employed where the altitude and velocity are taken as scheduling variables. Codes for plant and controller model are obtained by using real time workshop embedded coder (RTWEC) and downloaded to two separate computers, in which xPC kernel and VxWorks operating system are run, respectively.
A set of flight test scenarios are generated in Simulink environment. They are analyzed, discussed, and then some of them are picked up to verify the platform. These test scenarios are run in the setup and their results are compared with the ones obtained in Simulink environment.
The reusability of the platform is verified by using a commercial aircraft, Boeing 747, and its controller models. The test results obtained in the setup and in Simulink environment are presented and discussed.
41
Halvarsson, Björn. "Interaction Analysis in Multivariable Control Systems : Applications to Bioreactors for Nitrogen Removal." Doctoral thesis, Uppsala universitet, Avdelningen för systemteknik, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-122294.
Full textAbstract:
Many control systems of practical importance are multivariable. In such systems, each manipulated variable (input signal) may affect several controlled variables (output signals) causing interaction between the input/output loops. For this reason, control of multivariable systems is typically much more difficult compared to the single-input single-output case. It is therefore of great importance to quantify the degree of interaction so that proper input/output pairings that minimize the impact of the interaction can be formed. For this, dedicated interaction measures can be used. The first part of this thesis treats interaction measures. The commonly used Relative Gain Array (RGA) is compared with the Gramian-based interaction measures the Hankel Interaction Index Array (HIIA) and the Participation Matrix (PM) which consider controllability and observability to quantify the impact each input signal has on each output signal. A similar measure based on the
42
Yazicioglu, Faruk. "Design And Implementation Of A Two-axes Linear Positioning System For Rapid Prototyping Applications." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608835/index.pdf.
Full textAbstract:
In this study, a two axes linear positioning system for testing and applying different rapid prototyping techniques was designed and manufactured. A cable/ pulley mechanism is utilized in the system for transmitting motion from motors into linear motion. Use of a cable/ pulley mechanism overcomes the problems resulting from the utilization of conventional drive systems like ball screws and decreases the
overall cost of the system.
The carriage elements of both axes were designed and manufactured by using investment casting. The molds used in casting were also designed and manufactured within this study. The designed system is controlled by a servo motion control system composed of a motion controller, DC servo motors and linear encoders. All elements of the motion control system were selected, integrated and programmed
within the scope of the study.
43
Katewa, Luis. "Pre-study and system design of a mobile platform simulator system." Thesis, KTH, Hälsoinformatik och logistik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-288928.
Full textAbstract:
There are many ways to produce energy, using e.g. gas or hydro turbines. To guarantee a stable power output, it is important to consider components that could control and adjust the output power automatically. The intention of this thesis work is to carry out a pre-study and system design of a mobileplatform simulator system that could be used by companies like Siemens and help them to reduce their OPEX (Operational expenditure) and easily evaluate their AVR (AutomaticVoltage Regulator) solutions and test improvements. In this document, Siemens has decided to call the simulator system, MPSS (Mobile Platform Simulator System). The pre-study includes the theory behind energy production, synchronous generator, simulator system, AVR, control systems and electrical grid. Furthermore, the pre-study includes selection of the proposed components for the simulator system and design of the complete simulator system that will be built by the Siemens R&D engineers at a later stage. The Mobile Platform Simulator System (MPSS) is intended to test the AVR performance, which is a component with its prime purpose being to maintain the output voltage values from the generator at a fixed value, regardless of the current being drawn by the load. It is important that these output values are constantly regulated during the process of producing electricity, so that problems such as overvoltage, overcurrent etc. can be prevented. The MPSS will also be able to simulate real working scenarios e.g. from the different components of an energy production system, such as gas and hydro turbine, synchronous generator, AVR, electrical grid and serve for personnel training. The MPSS will consist of three main components; Simulator, AVR and control system. Therefore, the report will initially provide the background and general theory behind the synchronous generator, AVR and control system used in power generation systems. General information about the electrical grid is also provided. Furthermore, the report suggests the best possible choice for the necessary components to build a MPSS as well instructions on how to perform event simulation. The necessary documentation, including a circuit diagram to support the building of the MPSS by the R&D engineers at late stage, is also provided. Finally, the general analysis of the technical and non-technical aspects related to the choice of components, work process, method and result are discussed in the end of this report.Det finns många sätt att producera energi, genom användning av exempelvis gas- eller hydroturbiner. För att garantera en stabil produktion är det viktigt att noga överväga komponenter, som kan styra och justera uteffekten automatiskt. Avsikten med detta arbete är att göra en förstudie och systemdesign av ett simulatorsystem som kan användas av företag som Siemens, med avsikt att hjälpa dem att minska sin driftskostnad(OPEX), och lättare kunna utvärdera sina AVR-lösningar (Automatic Voltage Regulator)och möjliga testförbättringar. För detta arbete har Siemens bestämt att kalla systemet för ett mobilt simulatorsystem eller MPSS (Mobile Platform Simulator System). Förstudien innehåller teorin bakom energiproduktion, synkrongenerator generator, simulatorsystem, AVR, styrsystem och elnät. Ett urval av de olika komponenterna för simulatorsystemet och en slutgiltig design tas fram. Det kompletta simulatorsystemet kommer i ett senare skede att byggas av forsknings- och utvecklingsingenjörerna på Siemens. Simulatorsystemet är avsett att testa AVR-prestanda, vilket är en komponent vars huvudsakliga syfte är att upprätthålla utspänningsvärdena från en generator inom ett fast intervallvärde, oberoende av vilken effekt som en last drar. Det är viktigt att utgångsvärden ständigt regleras under elproduktionsprocesser så att utgångsvärden hålls inom systemets tillåtna gränser så att problem som över-/underspänning, över-/underström, över-/underfrekvens etc. kan förhindras. Simulatorsystemet kommer också att kunna simulera verkliga arbetsscenarier för olika komponenter i ett energiproduktionssystem, såsom gas- och hydroturbin, synkrongenerator, AVR och laster, exempelvis elnät, samt kunna användas vid personalutbildning. Simulatorsystemet kommer att bestå av tre huvudkomponenter; Simulator, AVR och styrsystem. Inledande beskrivning av arbetets bakgrund och allmän teoretisk kring komponenterna synkrongenerator, AVR och styrsystem, som används vid i kraftgenereringssystem, ges. Även en allmän bakgrund om elnätet och dess funktion presenteras. Därefter presenteras förslag på bästa möjliga val av nödvändiga komponenter för att bygga ett simulatorsystem. Ett förslag om hur händelse simulering görs samt vilken nödvändig dokumentation och kretsdiagram som behövs för att bygga ett simulatorsystem presenteras. I slutet av detta arbete presenteras en allmän analys av de tekniska och icke-tekniska aspekterna kring val av komponenter, arbetsprocess samt metod och resultat.
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Yuksel, Basak. "Towards The Enhancement Of Biped Locomotion And Control Techniques." Phd thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/3/12609899/index.pdf.
Full textAbstract:
The omnipresent tendency to &ldquolive easy&rdquo
is a sign of our need for automatization. To enable for such a &ldquo
comfortable and safe&rdquo
world, the automatic systems have to be developed that satisfies the necessities of life. Biologically inspired robots, especially the humanoids, are thus the key, and research in this area focuses on the improvement of such systems. Lately, it has been shown by high dexterity examples that the humanoid robots achieved to a mature level even if there are still open issues to be improved, especially in the control and stability of the bipeds. The purpose of this thesis is to study biped locomotion in different floor conditions, such as stairs and obstacles
to improve the research done in this area
to contribute to the development of autonomous biped robots, dynamic modeling, gait planning, supervisory and guidence control, stability analysis of biped robots
and to implement new control algorithms for biped locomotion, especially by using optimization and high level intelligent control techniques. The locomotion aimed to be realized results from complex, high-dimensional, nonlinear and dynamically related interactions between the robot and its environment. The mathematical modeling of the physical system is realized based on a 5-link 7 DOF biped robot model walking on a 3D planar surface and the dynamic simulation is performed using MATLAB. In terms of control, several different methods applied, comparison and the performance of each method are given. The 3D dynamic simulation software is developed, which allows the user to operate the biped systems within a 3D virtual environment.
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Sari, Ibrahim. "Design, Fabrication And Implementation Of A Vibration Based Mems Energy Scavenger For Wireless Microsystems." Phd thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/12610096/index.pdf.
Full textAbstract:
This thesis study presents the design, simulation, micro fabrication, and testing steps of microelectromechanical systems (MEMS) based electromagnetic micro power generators. These generators are capable of generating power using already available environmental vibrations, by implementing the electromagnetic induction technique. There are mainly two objectives of the study: (i) to increase the bandwidth of the traditional micro generators and (ii) to improve their efficiency at low frequency environmental vibrations of 1-100 Hz where most vibrations exist.
Four main types of generators have been proposed within the scope of this thesis study. The first type of generator is mainly composed of 20 parylene cantilevers on which coils are fabricated, where the cantilevers are capable of resonating with external vibrations with respect to a stationary magnet. This generator has dimensions of 9.5×8×
6 mm3, and it has been shown that 0.67 mV of voltage and 56 pW of power output can be obtained from a single cantilever of this design at a vibration frequency of 3.45 kHz. The second type generator aims to increase the bandwidth of the traditional designs by implementing cantilevers with varying length. This generator is sized 14×
12.5×
8 mm3, and the mechanical design and energy generation concept is similar to the first design. The test results show that by using 40 cantilevers with a length increment of 3 &
#956
m, the overall bandwidth of the generator can be increased to 1000 Hz. It has also been shown that 9 mV of constant voltage and 1.7 nW of constant power output can be obtained from the overall device in a vibration frequency range of 3.5 to 4.5 kHz. The third type is a standard large mass coil type generator that has been widely used in the literature. In this case, the generator is composed of a stationary base with a coil and a magnet-diaphragm assembly capable of resonating with vibrations. The fabricated device has dimensions of 8.5×
7×
2.5 mm3, and it has been considered in this study for benchmarking purposes only. The test results show that 0.3 mV of voltage and 40 pW of power output can be obtained from the fabricated design at a vibration frequency of 113 Hz. The final design aims to mechanically up-convert low frequency environmental vibrations of 1-100 Hz to a much higher frequency range of 2-3 kHz. This type of generator has been implemented for the first time in the literature. The generator is composed of two parts
a diaphragm-magnet assembly on the top, and 20 cantilevers that have coils connected in series at the base. The diaphragm oscillates by low frequency environmental vibrations, and catches and releases the cantilevers from the tip points where magnetic nickel (Ni) areas are deposited. The released cantilevers then start decaying out oscillations that is at their damped natural frequency of 2-3 kHz. It has been shown with tests that frequency up-conversion is realized in micro scale. The fabricated device has dimensions of 8.5×
7×
2.5 mm3, and a maximum voltage and power output of 0.57 mV and 0.25 nW can be obtained, respectively, from a single cantilever of the fabricated prototype at a vibration frequency of 113 Hz.
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Ankelhed, Daniel. "On design of low order H-infinity controllers." Doctoral thesis, Linköpings universitet, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-67869.
Full textAbstract:
When designing controllers with robust performance and stabilization requirements, H-infinity synthesis is a common tool to use. These controllers are often obtained by solving mathematical optimization problems. The controllers that result from these algorithms are typically of very high order, which complicates implementation. Low order controllers are usually desired, since they are considered more reliable than high order controllers. However, if a constraint on the maximum order of the controller is set that is lower than the order of the so-called augmented system, the optimization problem becomes nonconvex and it is relatively difficult to solve. This is true even when the order of the augmented system is low. In this thesis, optimization methods for solving these problems are considered. In contrast to other methods in the literature, the approach used in this thesis is based on formulating the constraint on the maximum order of the controller as a rational function in an equality constraint. Three methods are then suggested for solving this smooth nonconvex optimization problem. The first two methods use the fact that the rational function is nonnegative. The problem is then reformulated as an optimization problem where the rational function is to be minimized over a convex set defined by linear matrix inequalities (LMIs). This problem is then solved using two different interior point methods. In the third method the problem is solved by using a partially augmented Lagrangian formulation where the equality constraint is relaxed and incorporated into the objective function, but where the LMIs are kept as constraints. Again, the feasible set is convex and the objective function is nonconvex. The proposed methods are evaluated and compared with two well-known methods from the literature. The results indicate that the first two suggested methods perform well especially when the number of states in the augmented system is less than 10 and 20, respectively. The third method has comparable performance with two methods from literature when the number of states in the augmented system is less than 25.
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Cuayáhuitl, Heriberto. "Hierarchical reinforcement learning for spoken dialogue systems." Thesis, University of Edinburgh, 2009. http://hdl.handle.net/1842/2750.
Full textAbstract:
This thesis focuses on the problem of scalable optimization of dialogue behaviour in speech-based conversational systems using reinforcement learning. Most previous investigations in dialogue strategy learning have proposed flat reinforcement learning methods, which are more suitable for small-scale spoken dialogue systems. This research formulates the problem in terms of Semi-Markov Decision Processes (SMDPs), and proposes two hierarchical reinforcement learning methods to optimize sub-dialogues rather than full dialogues. The first method uses a hierarchy of SMDPs, where every SMDP ignores irrelevant state variables and actions in order to optimize a sub-dialogue. The second method extends the first one by constraining every SMDP in the hierarchy with prior expert knowledge. The latter method proposes a learning algorithm called 'HAM+HSMQ-Learning', which combines two existing algorithms in the literature of hierarchical reinforcement learning. Whilst the first method generates fully-learnt behaviour, the second one generates semi-learnt behaviour. In addition, this research proposes a heuristic dialogue simulation environment for automatic dialogue strategy learning. Experiments were performed on simulated and real environments based on a travel planning spoken dialogue system. Experimental results provided evidence to support the following claims: First, both methods scale well at the cost of near-optimal solutions, resulting in slightly longer dialogues than the optimal solutions. Second, dialogue strategies learnt with coherent user behaviour and conservative recognition error rates can outperform a reasonable hand-coded strategy. Third, semi-learnt dialogue behaviours are a better alternative (because of their higher overall performance) than hand-coded or fully-learnt dialogue behaviours. Last, hierarchical reinforcement learning dialogue agents are feasible and promising for the (semi) automatic design of adaptive behaviours in larger-scale spoken dialogue systems. This research makes the following contributions to spoken dialogue systems which learn their dialogue behaviour. First, the Semi-Markov Decision Process (SMDP) model was proposed to learn spoken dialogue strategies in a scalable way. Second, the concept of 'partially specified dialogue strategies' was proposed for integrating simultaneously hand-coded and learnt spoken dialogue behaviours into a single learning framework. Third, an evaluation with real users of hierarchical reinforcement learning dialogue agents was essential to validate their effectiveness in a realistic environment.
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Grobler, Johannes Petrus. "Design and implementation of a high resolution soft real-time timer." Diss., Pretoria : [s.n.], 2006. http://upetd.up.ac.za/thesis/available/etd-08282007-095022.
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Park, Jaeyong. "Safe Controller Design for Intelligent Transportation System Applications using Reachability Analysis." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1366201401.
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Wang, Chao. "Aircraft autopilot design using a sampled-data gain scheduling technique." Ohio : Ohio University, 1999. http://www.ohiolink.edu/etd/view.cgi?ohiou1175280078.
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