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Hodson-Tole, Emma Frances. "Motor Control for Dynamic tasks." Thesis, Royal Veterinary College (University of London), 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.498065.
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MENGARELLI, ALESSANDRO. "Balance and Motor Control in Dynamic Tasks." Doctoral thesis, Università Politecnica delle Marche, 2017. http://hdl.handle.net/11566/245482.
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Nella prima parte dello studio si è descritto il mantenimento dell’equilibrio in seguito a perturbazioni indotte da stimoli esterni. La risposta posturale è stata analizzata dal punto di vista dinamico, cinematico ed elettromiografico, ottenendo una descrizione completa dei meccanismi adottati per contrastare la perdita di equilibrio. Vari parametri sono stati estratti dallo spostamento del centro di pressione e del centro di massa e sulla base dell’attività muscolare acquisita mediante elettromiografia di superficie, con lo scopo di ottenere indici che correlino con le diverse caratteristiche della perturbazione. Sulla base dei dati cinematici sono state descritte le strategie posturali adottate per contrastare la perturbazione indotta, allo scopo di quantificare se differenti condizioni perturbative facciano sorgere differenti risposte, che prevedono l’uso di differenti strategie articolari. Infine il controllo dell’equilibrio è stato descritto attraverso un modello a doppio pendolo inverso, attraverso tecniche che, sebbene ben note ed impiegate in altri ambiti, risultano poco usate per la descrizione della postura in condizioni dinamiche.
Nella seconda parte si è indagato il controllo della dinamica del cammino in termini di attività muscolare, acquisita su centinaia di passi consecutivi, permettendo un nuovo tipo di descrizione non basata solamente su parametri temporali ma anche sulla frequenza con cui ogni modalità di attivazione muscolare di presenta durante il cammino. I principali risultati includono la quantificazione dei pattern di co-contrazione dei flessori di caviglia e la loro ricorrenza durante il cammino. Si sono inoltre descritte le differenze legate al genere riguardanti l’attività dei principali muscoli dell’intero arto inferiore. Basandosi sui precedenti risultati si sono poi quantificate le differenze legate al genere nei pattern di co-contrazione degli antagonisti che regolano la meccanica dell’articolazione di caviglia durante il cammino.In the first part of this work a characterization of the upright stance recovery after balance perturbation administered through external stimuli was performed. Balance response has been analyzed in dynamics, kinematics and electromyographic terms, in order to obtain a complete description of which mechanisms are employed to withstand sudden stance perturbations. A series of parameters have been extracted from center of pressure and center of mass displacement and from electromyographic signals, acquired from lower limb and trunk muscles, in order to obtain a series of indexes which can correlate with the different characteristic of perturbations. From kinematic data, a description of the postural strategies adopted to withstand perturbations has been performed, in order to observe whether different perturbation conditions evoke different responses, employing different articular joints. Eventually, a first attempt to model perturbed upright stance through a double-link inverted pendulum is proposed, applying control systems seldom employed in describing this kind of dynamic motor task. In the second part, the motor control during the walking task was described in terms of muscular activity. Myoelectric signals were acquired in hundreds of consecutive strides, obtaining a new type of description, not only in terms of temporal parameters of muscles activity but also in terms of the occurrence frequency of each muscular activation modality during gait. The main outcomes include the description of co-contraction activity between ankle flexor muscles and the assessment of the recurrence of each co-activation pattern during walking. Furthermore, a description of the whole lower limb muscles behavior was performed, aimed to the quantification of gender-based differences in muscular recruitment during gait. Then, these two aspects were joined in assessing gender-related differences in co-contraction activity of muscles which control the ankle joint mechanics during walking.
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Pogulis, Jakob. "Generation of dynamic control-dependence graphs for binary programs." Thesis, Linköpings universitet, Databas och informationsteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-110247.
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Dynamic analysis of binary files is an area of computer science that has many purposes. It is useful when it comes to debugging software in a development environment and the developer needs to know which statements affected the value of a specific variable. But it is also useful when analyzing a software for potential vulnerabilities, where data controlled by a malicious user could potentially result in the software executing adverse commands or executing malicious code. In this thesis a tool has been developed to perform dynamic analysis of x86 binaries in order to generate dynamic control-dependence graphs over the execution. These graphs can be used to determine which conditional statements that resulted in a certain outcome. The tool has been developed for x86 Linux systems using the dynamic binary instrumentation framework PIN, developed and maintained by Intel. Techniques for utilizing the additional information about the control flow for a program available during the dynamic analysis in order to improve the control flow information have been implemented and tested. The basic theory of dynamic analysis as well as dynamic slicing is discussed, and a basic overview of the implementation of a dynamic analysis tool is presented. The impact on the performance of the dynamic analysis tool for the techniques used to improve the control flow graph is significant, but approaches to improving the performance are discussed.
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Gargas, Eugene Frank III. "Generation and use of a discrete robotic controls alphabet for high-level tasks." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43651.
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The objective of this thesis is to generate a discrete alphabet of low-level robotic controllers rich enough to mimic the actions of high-level users using the robot for a specific task. This alphabet will be built through the analysis of various user data sets in a modified version of the motion description language, MDLe. It can then be used to mimic the actions of a future user attempting to perform the task by calling scaled versions of the controls in the alphabet, potentially reducing the amount of data required to be transmitted to the robot, with minimal error.
In this thesis, theory is developed that will allow the construction of such an alphabet, as well as its use to mimic new actions. A MATLAB algorithm is then built to implement the theory. This is followed by an experiment in which various users drive a Khepera robot through different courses with a joystick. The thesis concludes by presenting results which suggest that a relatively small group of users can generate an alphabet capable of mimicking the actions of other users, while drastically reducing bandwidth.
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Roca, Filella Nicolas. "Contributions à la robotisation de tâches entrant dans la fabrication de pneumatiques." Electronic Thesis or Diss., Université Clermont Auvergne (2021-...), 2023. http://www.theses.fr/2023UCFA0011.
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La recherche en robotique connait un intérêt croissant pour la manipulation des objets mous : des tissus, des mousses ou tout autre objet déformable comme le caoutchouc. La déformation d’un tel objet est généralement modélisée par l’introduction de nouveaux degrés de liberté, ce qui rend plus complexe son contrôle. Dans le contexte de l’industrie du futur, la Manufacture Française des Pneumatiques Michelin souhaite moderniser son procédé de fabrication de pneumatiques qui consiste à assembler, couche par couche, des bandes et des nappes de gomme. Ces tâches, qui n’ont jamais été robotisées avant cette thèse, entrent dans le domaine de la manipulation robotique d’objets déformables (MROD).Issue d’une convention CIFRE (Convention Industrielle de Formation par la Recherche) de l’ANRT (Association Nationale de la Recherche et de la Technologie), cette thèse s’intéresse à cette problématique dans un contexte applicatif industriel à travers la conception d’une cellule robotique en apportant des solutions technologiques innovantes, notamment en termes d’actionnement, de perception et d’architecture de commande. Cependant, nous montrons que l’intégration de ces solutions est limitée par des problématiques classiques de la MROD, telles que la modélisation des déformations de l’objet, la perception multimodale ou encore la commande et la génération dynamique de tâches.Une première contribution apportée est l’adaptation d’algorithmes de traitement d’image issus de bibliothèques libres dans un contexte industrielle. Ces algorithmes remplacent des solutions industrielles du commerce et permettent une plus grande liberté de paramétrage pour chaque fonction. Le résultat est donc un assemblage de briques algorithmiques flexibles et adaptées aux spécificités du procédé de fabrication de pneumatiques.Cette thèse explore également l’utilisation d’un modèle physique réduit pour contrôler la tension dans une bande de gomme en suspension dont une extrémité est enroulée autour d’une bobine et l’autre extrémité est manipulée par un robot. Nous distinguons alors trois contributions : l’estimation par vision de la tension, une loi de commande en boucle fermée pour réguler la vitesse de rotation de la bobine et ainsi varier la longueur de la partie suspendue de la bande, et un algorithme de planification de la tension désirée.Une dernière contribution concerne une commande par retour visuelle permettant de joindre bout à bout les deux extrémités d’une nappe enroulée autour d’une surface cylindrique. Cette opération complexe se base sur la perception par vision et la reconstruction en 3D du bord de nappe ainsi qu’une loi de commande prenant en compte une mesure pondérée de l’erreur.Nos développements ont permis la conception et la réalisation d’un démonstrateur industriel qui se veut prêt à un déploiement en usine. Cela impose donc de prendre en compte dès le début de la réflexion scientifique les contraintes industrielles telles que l’encombrement, le temps de cycle, la matériel et l’architecture logicielle à disposition, ou encore les tolérances de qualité. Des validations expérimentales ont été réalisées sur ce banc d’essaiRobotics research is increasingly interested in the manipulation of soft objects: fabrics, foams or any other deformable object like rubber. The deformation of such an object is usually modeled by introducing new degrees of freedom, which makes its control more complex. In the context of the industry of the future, the Manufacture Française des Pneumatiques Michelin wishes to modernize its tire manufacturing process which consists of assembling, layer by layer, strips and plies of rubber. These tasks, which have never been robotized before this thesis, fall within the domain of robotic manipulation of deformable objects (RMDO).Through the CIFRE plan (French Industrial Research Training Convention) of the ANRT (French National Association for Technological Research), this thesis addresses this issue in an industrial application context through the design of a robotic cell by providing innovative technological solutions, especially in terms of actuation, perception, and control. However, we show that the integration of these solutions is limited by classical problems of RMDO, such as the modeling of object deformations, multimodal perception or dynamic control and generation of tasks.A first contribution is the adaptation of image processing algorithms from open-source libraries to an industrial context. These algorithms replace commercial industrial solutions and allow a greater freedom of parameterization for each function. The result is an assembly of flexible algorithmic bricks adapted to the specificities of the tire manufacturing process.This thesis also explores the use of a reduced physical model to control the tension in a suspended gum strip, one end of which is wrapped around a spool while the other is manipulated by a robot. We distinguish three contributions: vision-based estimation of the tension, a closed-loop control law to regulate the rotation speed of the reel and thus vary the length of the suspended part of the strip, and a planning algorithm to achieve the desired tension.A last contribution concerns a visual feedback control allowing to join end to end the two ends of a web wrapped around a cylindrical surface. This complex operation is based on visual perception and 3D reconstruction of the edge of the ply as well as a control law considering a weighted measure of the error.Our developments have enabled the design and production of an industrial demonstrator that is ready for deployment in a factory. This means that industrial constraints such as sizing, cycle time, available hardware and software architecture, and quality tolerances have been considered from the beginning of the scientific reflection. Experimental validations were carried out on this test bench
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Albagul, Abdulgani. "Dynamic modelling and control of a wheeled mobile robot." Thesis, University of Newcastle Upon Tyne, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.327239.
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Myhre, Torstein Anderssen. "Path Planning, Dynamic Trajectory Generation and Control Analysis for Industrial Manipulators." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2011. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-13568.
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Many unsolved problems exists in the field of robot control.This text investigates state of the art methods for path finding, trajectory generation and control in order to identify their properties, which problems they are applicable to, and their weaknesses.This is done by applying them to problems with actual real-world relevance.
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Guo, Xi. "Remote control service system architecture and dynamic web user interface generation." Thesis, Loughborough University, 2011. https://dspace.lboro.ac.uk/2134/8485.
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According to current development of internet technology, remote control over the internet becomes a heated discussed topic. Some recent technologies such as Service-Oriented Architecture (SOA), web service and ontology offer great opportunity for remote control over the internet and a lot of research has been done into this topic. However, there are still many challenges in architecture design and dynamic user interface generation. Architectures in this research field lack clear description of controlled machine model as well as related knowledge support. Also, there is little system support further control service development. There is little research on web user interface design for remote control system over the internet. The design of web user interface has the challenge of overcoming the limitations of web technology to satisfactorily support different machines, users and control process requirements. This work overcomes the limitations on architecture by offering a SOA based design which allows both multiple users and distributed machine access. The system applies a machine model for the description of the machine structure and functions, which help the system to reason about machine components and their relationships with instructions. With a web service based design, different machines can be connected via the system and execute user commands. Using semantic description and ontology based methods the system can automatically retrieve machine information and generate the structure and function descriptions for different machines. Moreover, the system provides services which can support further development in remote control services. The proposed architecture improves on former designs, and offers a flexible architecture for remote control services over the internet. An intelligent web user interface is also introduced in this work. The design separates the interface data structure from the data representation. Supported by the remote control service development environment, the user interface could adapt to the control sessions. Semantic descriptions are used to describe the page data structure, session context as well as control command. Therefore, control page content can be adapted by the computer to real time control session. At the same time, a session dependent navigation is designed to resolve the problem of changeable requirements for multiple-machine web user interface. With a message driven model and a session dependent semantic data structure, the required machine data can be analysed by the system and categorised according to user s requirements. Compare with other designs, this service offers a method for web user interface generation for different machines, users and can adapt to different control processes. The design is demonstrated in five evaluation scenarios aimed at testing different aspects of the system. Evaluation demonstrates the design proposed in this thesis is feasible. It also shows the design can be applied to different areas and adapted to different control related requirements well.
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Stanhope, Austin. "A control architecture for dynamic execution of robot tasks trained in real-time using particle filters." abstract and full text PDF (UNR users only), 2009. http://0-gateway.proquest.com.innopac.library.unr.edu/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1472980.
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Shiltz, Dylan J. "Integrating automatic generation control and demand response via a dynamic regulation market mechanism." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/104267.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 65-68).
In this thesis, a transactive control strategy is proposed to integrate flexible consumers of electricity with automatic generation control in a large AC power system with multiple interconnected areas. The proposed Dynamic Regulation Market Mechanism enables aggregated Demand Response units to bid alongside generators in real time, which in turn allows frequency regulation to be performed optimally while respecting the constraints of the bidders as well as the power system. A linearized model of a 3 area, 900 bus power system is introduced, including the dynamics of both generators and aggregated Demand Response units. The Dynamic Regulation Market is framed as a modified DC Optimal Power Flow problem and an iterative primal-dual algorithm based on Newton-Raphson is proposed to solve the problem. Next, the physical layer is coupled with the market layer. Market negotiations serve as set-point commands to the physical system, while Area Control Error is fed back from the physical system to the market. The stability of this coupling is discussed, and potential cost savings are quantified through simulations. Notable features of this proposal include an explicit mechanism for guaranteeing energy neutral consumption for Demand Response, a quantitative evaluation of the potential savings from Demand Response participation in regulation, and realistic simulations on a large, multiple-area power system. Furthermore, these objectives are achieved under realistic communication requirements and without sacrificing the privacy of bidders' private information.
by Dylan J. Shiltz.
S.M.
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Li, Y. "Dynamic wireless mobile framework for distributed collaborative real-time information generation and control systems." Thesis, Nottingham Trent University, 2013. http://irep.ntu.ac.uk/id/eprint/35/.
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Intelligent Transportation Systems (ITS) have only recently discovered the exciting possibilities in the nomadic and ubiquitous computing space to build a new generation of information systems by allowing the vehicle to act both as a carrier and consumer of wireless (and thus omnipresent) information. Wide deployment of such ITS systems may eventually allow for more dynamic and efficient transportation systems, which can contribute in several ways towards greater economic growth whilst respecting environmental sustainability. A great number of researchers have dedicated considerable time and resources to tackling traffic related issues by utilising the new wireless capabilities enabled by ITS; such initiatives cover a wide range of applications such as safety, knowledge sharing and infotainment. Indicative of the extent of such efforts is the plethora of research projects initiated by many national and multi-national organisations such as the EU Framework Programme for Research and Technological Development. To achieve their goals, proposed solutions from such organisations depend on the development and deployment of intelligent wireless mobile communication systems, where data dissemination issues make the prospect of efficient and effective communication a challenging proposition. Presently, Car-to-Car and Car-to-Infrastructure communications are two distinct avenues that make possible efficient and reliable delivery of messages via direct radio links in traffic areas. In all cases, high quality of communication performance is desirable for a communication system composed mostly of roaming participants; such a system needs to be dynamic, flexible and infrastructure-less. Consequently, Mobile Ad hoc Network (MANET)-based networks are a natural fit to ITS. This thesis establishes a new Collaborative MANET-based Communication Network (CMCN) architecture for the generation and control of distributed collaborative real-time information. In urban traffic scenarios, CMCN nodes are classified as mobile, semi-mobile and static according to their mobility patterns. For a CMCN system, a novel supporting Probabilistic Traffic Message Delivery Algorithm (PTMDA) is designed based on the broadcast characteristics of 802.11p. PTMDA features a set of probabilistic priority events that satisfy efficient and reliable inter-vehicle communications. Further, PTMDA is extensively compared to several existing broadcasting-based routing protocols in realistic urban scenarios based on actual traffic traces from a major metropolitan centre in the UK. The simulation results illustrate that the new routing mechanism and its message dissemination mechanisms enable lower end-to-end delay, larger reachability and higher ratio of successful message transmissions than other state-of-the-art approaches.
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Euler, Juliane [Verfasser], Oskar von [Akademischer Betreuer] Stryk, and Rui [Akademischer Betreuer] Rocha. "Optimal Cooperative Control of UAVs for Dynamic Data-Driven Monitoring Tasks / Juliane Euler ; Oskar von Stryk, Rui Rocha." Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2018. http://d-nb.info/1151638811/34.
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Homsi, Saed Al. "Online generation of time- optimal trajectories for industrial robots in dynamic environments." Thesis, Université Grenoble Alpes (ComUE), 2016. http://www.theses.fr/2016GREAT027/document.
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Nous observons ces dernières années un besoin grandissant dans l’industrie pour des robots capables d’interagir et de coopérer dans des environnements confinés. Cependant, aujourd’hui encore, la définition de trajectoires sûres pour les robots industriels doit être faite manuellement par l’utilisateur et le logiciel ne dispose que de peu d’autonomie pour réagir aux modifications de l’environnement. Cette thèse vise à produire une structure logicielle innovante pour gérer l’évitement d’obstacles en temps réel pour des robots manipulateurs évoluant dans des environnements dynamiques. Nous avons développé pour cela un algorithme temps réel de génération de trajectoires qui supprime de façon automatique l’étape fastidieuse de définition d’une trajectoire sûre pour le robot.La valeur ajoutée de cette thèse réside dans le fait que nous intégrons le problème de contrôle optimal dans le concept de hiérarchie de tâches pour résoudre un problème d’optimisation non-linéaire efficacement et en temps réel sur un système embarqué aux ressources limitées. Notre approche utilise une commande prédictive (MPC) qui non seulement améliore la réactivité de notre système mais présente aussi l’avantage de pouvoir produire une bonne approximation linéaire des contraintes d’évitement de collision. La stratégie de contrôle présentée dans cette thèse a été validée à l’aide de plusieurs expérimentations en simulations et sur systèmes réels. Les résultats démontrent l’efficacité, la réactivité et la robustesse de cette nouvelle structure de contrôle lorsqu’elle est utilisée dans des environnements dynamiquesIn the field of industrial robots, there is a growing need for having cooperative robots that interact with each other and share work spaces. Currently, industrial robotic systems still rely on hard coded motions with limited ability to react autonomously to dynamic changes in the environment. This thesis focuses on providing a novel framework to deal with real-time collision avoidance for robots performing tasks in a dynamic environment. We develop a reactive trajectory generation algorithm that reacts in real time, removes the fastidious optimization process which is traditionally executed by hand by handling it automatically, and provides a practical way of generating locally time optimal solutions.The novelty in this thesis is in the way we integrate the proposed time optimality problem in a task priority framework to solve a nonlinear optimization problem efficiently in real time using an embedded system with limited resources. Our approach is applied in a Model Predictive Control (MPC) setting, which not only improves reactivity of the system but presents a possibility to obtain accurate local linear approximations of the collision avoidance constraint. The control strategies presented in this thesis have been validated through various simulations and real-world robot experiments. The results demonstrate the effectiveness of the new control structure and its reactivity and robustness when working in dynamic environments
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Sun, Liang. "Dynamic Modeling, Trajectory Generation and Tracking for Towed Cable Systems." BYU ScholarsArchive, 2012. https://scholarsarchive.byu.edu/etd/3532.
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In this dissertation, we focus on the strategy that places and stabilizes the path of an aerial drogue, which is towed by a mothership aircraft using a long flexible cable, onto a horizontally flat orbit by maneuvering the mothership in the presence of wind. To achieve this goal, several studies for towed cable systems are conducted, which include the dynamic modeling for the cable, trajectory generation strategies for the mothership, trajectory-tracking control law design, and simulation and flight test implementations. First, a discretized approximation method based on finite element and lumped mass is employed to establish the mathematical model for the towed cable system in the simulation. Two approaches, Gauss's Principle and Newton's second law, are utilized to derive the equations of motion for inelastic and elastic cables, respectively. The preliminary studies for several key parameters of the system are conducted to learn their sensitivities to the system motion in the steady state. Flight test results are used to validate the mathematical model as well as to determine an appropriate number of cable links. Furthermore, differential flatness and model predictive control based methods are used to produce a mothership trajectory that leads the drogue onto a desired orbit. Different desired drogue orbits are utilized to generate required mothership trajectories in different wind conditions. The trajectory generation for a transitional flight in which the system flies from a straight and level flight into a circular orbit is also presented. The numerical results are presented to illustrate the required mothership orbits and its maneuverability in different wind conditions. A waypoint following based strategy for mothership to track its desired trajectory in flight test is developed. The flight test results are also presented to illustrate the effectiveness of the trajectory generation methods. In addition, a nonlinear time-varying feedback control law is developed to regulate the mothership to follow the desired trajectory in the presence of wind. Cable tensions and wind disturbance are taken into account in the design model and Lyapunov based backstepping technique is employed to develop the controller. The mothership tracking error is proved to be capable of exponentially converging to an ultimate bound, which is a function of the upper limit of the unknown component of the wind. The simulation results are presented to validate the controller. Finally, a trajectory-tracking strategy for unmanned aerial vehicles is developed where the autopilot is involved in the feedback controller design. The trajectory-tracking controller is derived based on a generalized design model using Lyapunov based backstepping. The augmentations of the design model and trajectory-tracking controller are conducted to involve the autopilot in the closed-loop system. Lyapunov stability theory is used to guarantee the augmented controller is capable of driving the vehicle to exponentially converge to and follow the desired trajectory with the other states remaining bounded. Numerical and Software-In-the-Loop simulation results are presented to validate the augmented controller. This method presents a framework of implementing the developed trajectory-tracking controllers for unmanned aerial vehicles without any modification to the autopilot.
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Srinivasan, Padmanabhan. "Dynamic modeling and control of a proton exchange membrane fuel cell as a distributed generator." Morgantown, W. Va. : [West Virginia University Libraries], 2003. http://etd.wvu.edu/templates/showETD.cfm?recnum=3087.
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Thesis (M.S.)--West Virginia University, 2003.Title from document title page. Document formatted into pages; contains x, 62 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 46-48).
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Kumar, Sri Adarsh A. "Cloud Computing based Velocity Profile Generation for Minimum Fuel Consumption." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1331083555.
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Bountourelis, Theologos. "Efficient pac-learning for episodic tasks with acyclic state spaces and the optimal node visitation problem in acyclic stochastic digaphs." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/28144.
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Thesis (M. S.)--Industrial and Systems Engineering, Georgia Institute of Technology, 2009.Committee Chair: Reveliotis, Spyros; Committee Member: Ayhan, Hayriye; Committee Member: Goldsman, Dave; Committee Member: Shamma, Jeff; Committee Member: Zwart, Bert.
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Powell, Keith. "Next generation wavefront controller for the MMT adaptive optics system: Algorithms and techniques for mitigating dynamic wavefront aberrations." Diss., The University of Arizona, 2012. http://hdl.handle.net/10150/222838.
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Wavefront controller optimization is important in achieving the best possible image quality for adaptive optics systems on the current generation of large and very large aperture telescopes. This will become even more critical when we consider the demands of the next generation of extremely large telescopes currently under development. These telescopes will be capable of providing resolution which is significantly greater than the current generation of optical/IR telescopes. However, reaching the full resolving potential of these instruments will require a careful analysis of all disturbance sources, then optimizing the wavefront controller to provide the best possible image quality given the desired science goals and system constraints. Along with atmospheric turbulence and sensor noise, structural vibration will play an important part in determining the overall image quality obtained. The next generation of very large aperture telescopes currently being developed will require assessing the effects of structural vibration on closed loop AO system performance as an integral part of the overall system design. Telescope structural vibrations can seriously degrade image quality, resulting in actual spot full width half maximum (FWHM) and angular resolution much worse than the theoretical limit. Strehl ratio can also be significantly degraded by structural vibration as energy is dispersed over a much larger area of the detector. In addition to increasing telescope diameter to obtain higher resolution, there has also been significant interest in adaptive optics systems which observe at shorter wavelength from the near infrared to visible (VNIR) wavelengths, at or near 0.7 microns. This will require significant reduction in the overall wavefront residuals as compared with current systems, and will therefore make assessment and optimization of the wavefront controller even more critical for obtaining good AO system performance in the VNIR regime.
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Jung, Jin Woo. "Modeling and control of fuel cell based distributed generation systems." Connect to resource, 2005. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1116451881.
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Thesis (Ph. D.)--Ohio State University, 2005.Title from first page of PDF file. Document formatted into pages; contains xvi, 209 p.; also includes graphics. Includes bibliographical references (p. 202-209). Available online via OhioLINK's ETD Center
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Pearmine, Ross Stuart. "Review of primary frequency control requirements on the GB power system against a background of increasing renewable generation." Thesis, Brunel University, 2006. http://bura.brunel.ac.uk/handle/2438/724.
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The system frequency of a synchronous power system varies with the imbalance of energy supplied and the electrical energy consumed. When large generating blocks are lost, the system undergoes a frequency swing relative to the size of the loss. Limits imposed on the magnitude of frequency deviation† prevent system collapse. Operation of frequency responsive plant to control frequency, results in lower machine efficiencies. Changes to the generation mix on the British transmission system have occurred in the past ten years, when the response requirement was last reviewed. Future increased levels of wind turbines‡ will alter the operational characteristics of the system and warrant investigation. A process to optimise the response requirements while maintaining statutory limits on frequency deviation has been identified. The method requires suitable load and generator models to replicate transmission system performance. A value to substitute for current load sensitivity to frequency has been presented from empirical studies. Traditional coal fired generator models have been improved with additional functions to provide a comparable response with existing units. A novel combined cycle gas turbine model using fundamental equations and control blocks has also been developed. A doubly fed induction generator model, based on existing literature, has been introduced for representing wind turbine behaviour in system response studies. Validation of individual models and the complete system against historic loss events has established confidence in the method. A review of the current system with the dynamic model showed that current primary response requirements are inadequate. The secondary response requirements generally show a slight reduction in the holding levels. Simulations including extra wind generation have shown that there is potential to reduce the primary response requirement in the future. The secondary response requirements are maintained with added wind farms.
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Maldonado, Toro Galo Xavier. "Analysis and generation of highly dynamic motions of anthropomorphic systems : application to parkour." Thesis, Toulouse 3, 2017. http://www.theses.fr/2017TOU30375/document.
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Cette thèse propose une approche interdisciplinaire originale du traitement du mouvement humain corps-complet grâce à l'utilisation couplée d'approches issues de la biomécanique, du contrôle moteur et de la robotique. Les méthodes biomécaniques sont utilisées pour l'enregistrement, le traitement et l'analyse du mouvement humain. L'approche << Uncontrolled Manifold >> du contrôle moteur est étendue à l'étude des mouvements hautement dynamiques. Ceci permet de déterminer si d'éventuelles tâches dynamiques sont contrôlées et stabilisées par le cerveau, puis d'inférer une organisation hiérarchique des tâches motrices. Le formalisme de l'espace des tâches utilisé en robotique pour la génération de mouvement corps-complet ainsi que la hiérarchie des tâches extraites dans l'étude du contrôle moteur sont utilisés pour simuler des mouvements humains hautement dynamiques. Cette approche permet de mieux comprendre le mouvement humain et de générer des mouvements inspirés de l'humain pour d'autres systèmes anthropomorphes tel que des robots ou avatars. La discipline du Parkour, impliquant des actions hautement dynamiques tels que des sauts et des techniques d'atterisage, est choisie pour illustrer l'approche proposéeThis thesis proposes an original and interdisciplinary approach to the treatment of whole-body human movements through the synergistic utilization of biomechanics, motor control and robotics. Robust methods of biomechanics are used to record, process and analyze whole-body human motions. The Uncontrolled Manifold approach (UCM) of motor control is extended to study highly dynamic movements processed in the biomechanical study, in order to determine if hypothesized dynamic tasks are being controlled stably by the central nervous system. This extension permits also to infer a hierarchical organization of the controlled dynamic tasks. The task space formalism of motion generation in robotics is used to generate whole-body motion by taking into account the hierarchy of tasks extracted in the motor control study. This approach permits to better understand the organization of human dynamic motions and provide a new methodology to generate whole-body human motions with anthropomorphic systems. A case study of highly dynamic and complex movements of Parkour, including jumps and landings, is utilized to illustrate the proposed approach
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Albhbah, Atia Mahmod. "Dynamic web forms development using RuleML : building a framework using metadata driven rules to control Web forms generation and appearance." Thesis, University of Bradford, 2013. http://hdl.handle.net/10454/5719.
Full textAbstract:
Web forms development for Web based applications is often expensive, laborious, error-prone, time consuming and requires a lot of effort. Web forms are used by many different people with different backgrounds and a lot of demands. There is a very high cost associated with the need to update the Web application systems to achieve these demands. A wide range of techniques and ideas to automate the generation of Web forms exist. These techniques and ideas however, are not capable of generating the most dynamic behaviour of form elements, and make Insufficient use of database metadata to control Web forms' generation and appearance. In this thesis different techniques are proposed that use RuleML and database metadata to build rulebases to improve the automatic and dynamic generation of Web forms. First this thesis proposes the use of a RuleML format rulebase using Reaction RuleML that can be used to support the development of automated Web interfaces. Database metadata can be extracted from system catalogue tables in typical relational database systems, and used in conjunction with the rulebase to produce appropriate Web form elements. Results show that this mechanism successfully insulates application logic from code and suggests that Abstract iii the method can be extended from generic metadata rules to more domain specific rules. Second it proposes the use of common sense rules and domain specific rules rulebases using Reaction RuleML format in conjunction with database metadata rules to extend support for the development of automated Web forms. Third it proposes the use of rules that involve code to implement more semantics for Web forms. Separation between content, logic and presentation of Web applications has become an important issue for faster development and easy maintenance. Just as CSS applied on the client side to control the overall presentation of Web applications, a set of rules can give a similar consistency to the appearance and operation of any set of forms that interact with the same database. We develop rules to order Web form elements and query forms using Reaction RuleML format in conjunction with database metadata rules. The results show the potential of RuleML formats for representing database structural and active semantics. Fourth it proposes the use of a RuleML based approach to provide more support for greater semantics for example advanced domain support even when this is not a DBMS feature. The approach is to specify most of the semantics associated with data stored in RDBMS, to overcome some RDBMSs limitations. RuleML could be used to represent database metadata as an external format.
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Albhbah, Atia M. "Dynamic web forms development using RuleML. Building a framework using metadata driven rules to control Web forms generation and appearance." Thesis, University of Bradford, 2013. http://hdl.handle.net/10454/5719.
Full textAbstract:
Web forms development for Web based applications is often expensive, laborious, error-prone, time consuming and requires a lot of effort. Web forms are used by many different people with different backgrounds and a lot of demands. There is a very high cost associated with the need to update the Web application systems to achieve these demands.
A wide range of techniques and ideas to automate the generation of Web forms exist. These techniques and ideas however, are not capable of generating the most dynamic behaviour of form elements, and make Insufficient use of database metadata to control Web forms¿ generation and appearance.
In this thesis different techniques are proposed that use RuleML and database metadata to build rulebases to improve the automatic and dynamic generation of Web forms.
First this thesis proposes the use of a RuleML format rulebase using Reaction RuleML that can be used to support the development of automated Web interfaces. Database metadata can be extracted from system catalogue tables in typical relational database systems, and used in conjunction with the rulebase to produce appropriate Web form elements. Results show that this mechanism successfully insulates application logic from code and suggests that
Abstract
iii
the method can be extended from generic metadata rules to more domain specific rules.
Second it proposes the use of common sense rules and domain specific rules rulebases using Reaction RuleML format in conjunction with database metadata rules to extend support for the development of automated Web forms.
Third it proposes the use of rules that involve code to implement more semantics for Web forms. Separation between content, logic and presentation of Web applications has become an important issue for faster development and easy maintenance. Just as CSS applied on the client side to control the overall presentation of Web applications, a set of rules can give a similar consistency to the appearance and operation of any set of forms that interact with the same database. We develop rules to order Web form elements and query forms using Reaction RuleML format in conjunction with database metadata rules. The results show the potential of RuleML formats for representing database structural and active semantics.
Fourth it proposes the use of a RuleML based approach to provide more support for greater semantics for example advanced domain support even when this is not a DBMS feature. The approach is to specify most of the semantics associated with data stored in RDBMS, to overcome some RDBMSs limitations. RuleML could be used to represent database metadata as an external format.
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Kirby, Elizabeth Ann. "Quantification of the Impact of Intermittent Renewable Penetration Levels on Power Grid Frequency Performance Using Dynamic Modeling." ScholarWorks @ UVM, 2015. http://scholarworks.uvm.edu/graddis/519.
Full textAbstract:
As the technology behind renewable energy sources becomes more advanced and cost-effective, these sources have become an ever-increasing portion of the generation portfolios of power systems across the country. While the shift away from non-renewable resources is generally considered beneficial, the fact remains that intermittent renewable sources present special challenges associated with their unique operating characteristics. Because of the high variability of intermittent renewables, the frequency performance of the system to which they are connected can degrade. Generators assigned to regulate frequency, keeping it close to the desired 60 Hz, are forced to ramp up and down quickly in order to offset the rise and fall of the variable resources (in addition to the rise and fall of load), causing transient frequency deviations, power swings, major interface transfer variations and other significant issues.
This research measures the impact of intermittent renewable resource penetration level on power system frequency performance, and offers methods for managing that performance. Currently, the generally accepted amount of regulation (rapidly-dispatchable reserve, used as a supplement to base generation on a short time scale to avoid performance issues) is 1% of peak load. Because of the high variability associated with intermittent renewables, including wind generation (the focus of this thesis), it is expected that this amount of regulation must increase in order to maintain adequate system frequency performance. Thus, the primary objective of this thesis is to quantify the amount of regulation necessary to maintain adequate frequency performance as a function of the penetration level of wind generation.
Presently, balancing resource requirements are computed, in both industry and in the research literature, using static models, which rely entirely on statistical manipulation of net load, failing to capture the intricacies of dynamic system and generator interactions. Using a dynamic model with high temporal resolution data, instead of these statistical models, this thesis confirms the need for additional regulation as wind generation penetration increases. But beyond that, our research demonstrates an exponentially increasing relationship between necessary regulation and wind generation percentage, indicating that, without further technological breakthroughs, there is a practical limit to the amount of wind generation that a typical system can accommodate. Furthermore, we compare our dynamic model results with those of the statistical models, and show that the majority of current statistical models substantially under-predict the necessary amount of regulation to accommodate significant amounts of wind generation. Finally, we verify that the ramping capability of the regulating generators impacts the amount of necessary regulation, although it is generally ignored in current analysis and related literature.
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Kazerooni, Ali Khajeh. "Methodologies and techniques for transmission planning under corrective control paradigm." Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/methodologies-and-techniques-for-transmission-planning-under-corrective-control-paradigm(16d20003-4175-4405-8d9f-78fb7b138c88).html.
Full textAbstract:
Environmental concerns and long term energy security are the key drivers behind most current electric energy policies whose primary aim is to achieve a sustainable, reliable and affordable energy system. In a bid to achieve these aims many changes have been taking place in most power systems such as emergence of new low carbon generation technologies, structural changes of power system and introduction of competition and choice in electricity supply. As a result of these changes, the level of uncertainties is growing especially on generation side where the locations and available capacities of the future generators are not quite clear-cut. The transmission network needs to be flexibly and economically robust against all these uncertainties. The traditional operation of the network under preventive control mode is an inflexible practice which increases the total system cost. Corrective control operation strategy, however, can be alternatively used to boost the flexibility, to expedite the integration of the new generators and to decrease the overall cost. In this thesis, the main focus is on development of new techniques and methodologies that can be used for modelling and solving a transmission planning problem under the assumption that post-contingency corrective actions are plausible. Three different corrective actions, namely substation switching, demand response and generation re-dispatch are investigated in this thesis. An innovative multi-layer procedure deploying a genetic algorithm is proposed to calculate the required transmission capacity while substation switching is deployed correctively to eradicate the post-fault network violations. By using the proposed approach, a numerical study shows that the network investment reduces by 6.36% in the IEEE 24 bus test system. In another original study, generation re-dispatch corrective action is incorporated into the transmission planning problem. The ramp-rate constraints of generators are taken into account so that the network may be overloaded up to its short-term thermal rating while the generation re-dispatch action is undertaken. The results show that the required network investment for the modified IEEE 24 bus test system can be reduced by 23.8% if post-fault generation re-dispatch is deployed. Furthermore, a new recursive algorithm is proposed to study the effect of price responsive demands and peak-shifting on transmission planning. The results of a study case show that 7.8% of total investment can be deferred. In an additional study on demand response, a new probabilistic approach is introduced for transmission planning in a system where direct load curtailment can be used for either balancing mechanism or alleviating the network violations. In addition, the effect of uncertainties such as wind power fluctuation and CO2 emission price volatility are taken into account by using Monte Carlo simulation and Hypercube sampling techniques. Last but not least, a probabilistic model for dynamic thermal ratings of transmission lines is proposed, using past meteorological data. The seasonal correlations between wind power and thermal ratings are also calculated. £26.7 M is the expected annual benefit by using dynamic thermal ratings of part of National Grid's transmission network.
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Safdarnejad, Seyed Mostafa. "Developing Modeling, Optimization, and Advanced Process Control Frameworks for Improving the Performance of Transient Energy-Intensive Applications." BYU ScholarsArchive, 2016. https://scholarsarchive.byu.edu/etd/6057.
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The increasing trend of world-wide energy consumption emphasizes the importance of ongoing optimization of new and existing technologies. In this dissertation, two energy–intensive systems are simulated and optimized. Advanced estimation, optimization, and control techniques such as a moving horizon estimator and a model predictive controller are developed to enhance the profitability, product quality, and reliability of the systems. An enabling development is presented for the solution of complex dynamic optimization problems. The strategy involves an initialization approach to large–scale system models that both enhance the computational performance as well as the ability of the solver to converge to an optimal solution. One particular application of this approach is the modeling and optimization of a batch distillation column. For estimation of unknown parameters, an L1-norm method is utilized that is less sensitive to outliers than a squared error objective. The results obtained from the simple model match the experimental data and model prediction for a more rigorous model. A nonlinear statistical analysis and a sensitivity analysis are also implemented to verify the reliability of the estimated parameters. The reduced–order model developed for the batch distillation column is computationally fast and reasonably accurate and is applicable for real time control and online optimization purposes. Similar to estimation, an L1-norm objective function is applied for optimization of the column operation. Application of an L1-norm permits explicit prioritization of the multi–objective problems and adds only linear terms to the problem. Dynamic optimization of the column results in a 14% increase in the methanol product obtained from the column with 99% purity. In a second application of the methodology, the results obtained from optimization of the hybrid system of a cryogenic carbon capture (CCC) and power generation units are presented. Cryogenic carbon capture is a novel technology for CO2 removal from power generation units and has superior features such as low energy consumption, large–scale energy storage, and fast response to fluctuations in electricity demand. Grid–level energy storage of the CCC process enables 100% utilization of renewable power sources while 99% of the CO2 produced from fossil–fueled power plants is captured. In addition, energy demand of the CCC process is effectively managed by deploying the energy storage capability of this process. By exploiting time–of–day pricing, the profit obtained from dynamic optimization of this hybrid energy system offsets a significant fraction of the cost of construction of the cryogenic carbon capture plant.
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Long, Fei. "Three-Dimensional Motion Control and Dynamic Force Sensing of a Magnetically Propelled Micro Particle Using a Hexapole Magnetic Actuator." The Ohio State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=osu1452093964.
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Abushnaf, Jamal. "Smart home energy management: An analysis of a novel dynamic pricing and demand response aware control algorithm for households with distributed renewable energy generation and storage." Thesis, Edith Cowan University, Research Online, Perth, Western Australia, 2017. https://ro.ecu.edu.au/theses/1982.
Full textAbstract:
Home energy management systems (HEMS) technology can provide a smart and efficient way of optimising energy usage in residential buildings. One of the main goals of the Smart Grid is to achieve Demand Response (DR) by increasing end users’ participation in decision making and increasing the level of awareness that will lead them to manage their energy consumption in an efficient way. This research presents an intelligent HEMS algorithm that manages and controls a range of household appliances with different demand response (DR) limits in an automated way without requiring consumer intervention. In addition, a novel Multiple Users and Load Priority (MULP) scheme is proposed to organise and schedule the list of load priorities in advance for multiple users sharing a house and its appliances. This algorithm focuses on control strategies for controllable loads including air-conditioners, dishwashers, clothes dryers, water heaters, pool pumps and electrical vehicles. Moreover, to investigate the impact on efficiency and reliability of the proposed HEMS algorithm, small-scale renewable energy generation facilities and energy storage systems (ESSs), including batteries and electric vehicles have been incorporated. To achieve this goal, different mathematical optimisation approaches such as linear programming, heuristic methods and genetic algorithms have been applied for optimising the schedule of residential loads using different demand side management and demand response programs as well as optimising the size of a grid connected renewable energy system. Thorough incorporation of a single objective optimisation problem under different system constraints, the proposed algorithm not only reduces the residential energy usage and utility bills, but also determines an optimal scheduling for appliances to minimise any impacts on the level of consumer comfort. To verify the efficiency and robustness of the proposed algorithm a number of simulations were performed under different scenarios. The simulations for load scheduling were carried out over 24 hour periods based on real-time and day ahead electricity prices. The results obtained showed that the proposed MULP scheme resulted in a noticeable decrease in the electricity bill when compared to the other scenarios with no automated scheduling and when a renewable energy system and ESS are not incorporated. Additionally, further simulation results showed that widespread deployment of small scale fixed energy storage and electric vehicle battery storage alongside an intelligent HEMS could enable additional reductions in peak energy usage, and household energy cost. Furthermore, the results also showed that incorporating an optimally designed grid-connected renewable energy system into the proposed HEMS algorithm could significantly reduce household electricity bills, maintain comfort levels, and reduce the environmental footprint. The results of this research are considered to be of great significance as the proposed HEMS approach may help reduce the cost of integrating renewable energy resources into the national grid, which will be reflected in more users adopting these technologies. This in turn will lead to a reduction in the dependence on traditional energy resources that can have negative impacts on the environment. In particular, if a significant proportion of households in a region were to implement the proposed HEMS with the incorporation of small scale storage, then the overall peak demand could be significantly reduced providing great benefits to the grid operator as well as the households.
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Gonçalves, Amílcar Flamarion Querubini. "Controle e análise de conversores CC-CA conectados em redes de distribuição e utilizados em sistemas de geração distribuída." Universidade de São Paulo, 2011. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-27042011-085423/.
Full textAbstract:
O presente trabalho visa o desenvolvimento de metodologias para a conexão de sistemas de Geração Distribuída (GD) em redes de distribuição utilizando conversores CC-CA como também, a produção de energia elétrica dentro dos padrões estabelecidos por normas nacionais e internacionais. Para a produção de energia com índices de qualidade satisfatórios, duas situações vão ser consideradas: uma quando o sistema está conectado à rede e outra quando a rede está indisponível. Após a ocorrência do ilhamento, é necessária a mudança da variável a ser sintetizada pelo conversor CC-CA, ou seja, antes da contingência ocorrer a GD está sendo gerenciada no modo potência e/ou corrente e após passa a ser controlada no modo tensão. Além disso, espera-se que os resultados obtidos forneçam subsídios às concessionárias de energia elétrica e aos produtores e autoprodutores de energia para a conexão sistemas de geração distribuída em redes de distribuição como também, os procedimentos necessários a serem adotados por eles quando o sistema de distribuição estiver sob contingência (ilhamento).This work proposes a set of analysis to connecting a distributed generation system to a distribution network using a three-phase power converter (DC-AC) as well as, the power generation produced by the DG (Distributed Generation) system must follow the national and international power quality standards. For producing energy with satisfactory power quality indexes, two situations will be considered: when the power converter operates connected to the grid, the power/current is used as control variable. However, if the power converter is operating in stand-alone mode (contingency or islanding mode) the control variable must be changed to voltage and the terminal voltage of the power converter must be controlled. Finally, the main concerning of the present study is to obtain results to the electrical energy companies and self-producers for connecting DG system to the grid as well as, the essential procedures that must be adopted by them when the distribution system is operating in contingency or islanding mode.
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Guo, Yuanzhen. "ECONOMIC OPERATION OF TYPICAL MICROGRIDS." UKnowledge, 2018. https://uknowledge.uky.edu/ece_etds/131.
Full textAbstract:
A microgrid is a subnetwork of power system that consists of a group of distributed energy sources and loads. It is designed to integrate distributed generation, loads, energy storage devices, converters, and monitoring and protection devices. Generally, a successful microgrid could run both in island mode (off-grid) and in grid-connected mode (on-grid), being able to convert between two modes at any time. With continuous development of the power system, distributed renewable generation unit accounts for an increasing proportion, since microgrid could effectively connect these generation units to the main grid, thereby improving the energy efficiency and the energy structure. Microgrid is increasingly playing an important role in the power system.
This thesis focuses on reducing the cost of microgrids through economic operation, including both static and dynamic economic operations. Three cases are tested based on these two methods. Also, each case will include four situations including one without ESS and three situations with 2MWh ESS, 3MWh ESS, 4MWh ESS, respectively.
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Gencoglu, Cihangir. "Assessment Of The Effect Of Hydroelectric Power Plants'." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612165/index.pdf.
Full textAbstract:
The Turkish TSO (TEIAS) has been leading a project that aims the synchronous interconnected operation of the Turkish Power System and the ENTSO-E CESA (former UCTE) System. For this purpose, this study concentrates on the specific problems related to the electromechanical systems of large size hydroelectric power plants regarding low frequency inter area oscillations, which are prone to occur once the interconnected operation is established. The expected frequency of inter area oscillations after interconnected operation is close to 0.15 Hz, which is in the frequency range of the speed governing structures of turbines, as explained in the first two sections of the thesis. In the third section, the nonlinear turbine governor model used throughout the study is explained. In the following part, the governor parameter tuning study with regard to the defined performance objectives is explained. Afterwards, the effect of the retuned governor settings of the sample hydroelectric power plants on a simple multi machine power system is shown. Following that, the system wide effect of removing the sources of negative damping, which are strongly dependent on the governor settings of the major hydroelectric power plants of the Turkish Power System, is shown. In the final part, conclusions are made on the operation of the hydroelectric power plants regarding the frequency stability of the system after synchronous interconnected operation of the Turkish Power System and the ENTSO-E CESA System.
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Euler, Juliane. "Optimal Cooperative Control of UAVs for Dynamic Data-Driven Monitoring Tasks." Phd thesis, 2018. https://tuprints.ulb.tu-darmstadt.de/7163/1/dissertation.pdf.
Full textAbstract:
In recent years, there has been an immense improvement of methods and technology for Unmanned Aerial Vehicles (UAVs). By now, a steadily growing number of affordable platforms, as well as accurate onboard sensors, are available, which enables the use of UAVs as a remote sensing tool in various monitoring, surveillance, and disaster response tasks.
This thesis deals with the challenging application scenario of monitoring atmospheric dispersion processes using multiple sensor-equipped UAVs. The idea is to enable the UAVs to autonomously move through the domain such that the utility of measurements taken along the way is maximized and cooperation among the team members is exploited.
A three-part solution to this problem is developed. For cooperative control of multiple vehicles, a decentralized model-predictive control approach is proposed that is based on a mixed-integer linear system description. As data-driven adaptive sensing strategy, a sequential optimum design approach for the computation of vehicle-specific sensing trajectories with maximized information value is presented. In the last step, both approaches are combined to form a decentralized dynamic data-driven cooperative feedback control scheme.
During development and implementation of all parts, particular attention is paid to efficiency and adaptability in order for the proposed scheme to be applied decentralized in possibly changing heterogeneous vehicle team constellations. Though atmospheric dispersion monitoring by UAVs serves as the motivating use case throughout this thesis, the developed solution is not limited to this specific scenario. In fact, it can easily be modified to deal with other kinds of unmanned vehicles or dynamic processes, and can, therefore, be applied to many other related problem types.
Applicability, versatility, and effectiveness of the approach are successfully evaluated based on physics simulations of representative multi-objective monitoring scenarios.
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Chang, Chen-Chung, and 張鎮中. "Effects of dynamic C/R ratio control on mouse positioning performance for windows tasks." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/88q86j.
Full textAbstract:
碩士逢甲大學
工業工程學所
91
With fast computer-related hardware development, the design of VDT has been focused on large size and high resolution. Furthermore, inputting data or controlling computer using GUI with input devices under Windows operation system is totally different from that just using keyboard as main input device under DOS. It points out the importance of adjusting the accuracy of mouse. Issues about computer mouse are wildly discussed including from either ergonomics aspect or HCI aspect. Studies indicated that target size, target amplitude, direction of movement, C/R ratio, trajectory of cursor, angle biased, and so on are the main factors that effect the moving speed and positioning accuracy of computer mouse. Although Windows OS does set the C/R ratio of mouse dynamically, fine adjust time, however, determines the total operation time (including travel and adjust time), setting C/R ratio base on the traveling or adjusting status of mouse probably will be a better design. Although issues about computer mouse are wildly discussed, none of them focused on dynamic C/R ratio. This study is to investigate the effects of dynamic C/R ratio control on mouse positioning performance for windows tasks Experiments consisted of two parts. Experiment one is a preliminary experiment which focused on typical positioning task (moving mouse to close a specific window). Factors considered include target amplitude, direction of movement, and thresholds for acceleration of mouse. The dependent variables are movement time and displacement. The results showed that different target amplitude, direction of movement, and thresholds for acceleration of mouse had significant effect on the movement and displacement of computer mouse and user-defined threshold is better than Windows built-in threshold. Base on the results of preliminary experiment, the second part of experiment focused on all kinds of movement of mouse under Windows operation system. The program written in VB 6.0 collected all the data about mouse (move, click, double click, drag, and so on) by background executing the program and then analyzed the performance of mouse after dropped useless actions (meaningless, movement takes to long, and so on). Factors considers include target amplitude (9 levels), direction of movement (8 levels), and thresholds for acceleration of mouse (built-in and user defined). Take 0~100 pixels as level 1 for target amplitude and so forth and divide 360 degree into 8 levels for direction of movement. The dependent variable is movement time. The results indicated that user- defined threshold is better than that which is Windows built-in.
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Brisbine, Brian P. "Computer-aided model generation and validation for dynamic systems." Thesis, 1998. http://hdl.handle.net/1957/33447.
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The primary goal of any model is to emulate, as closely as possible, the desired
behavioral phenomena of the real system but still maintain some tangible qualities
between the parameters of the model and the system response. In keeping with this
directive, models by their very nature migrate towards increasing complexity and hence
quickly become tedious to construct and evaluate. In addition, it is sometimes necessary
to employ several different analysis techniques on a particular system, which often
requires modification of the model. As a result, the concept of versatile, step-wise
automated model generation was realized as a means of transferring some of the laborious
tasks of model derivation from the analyst to a suitable program algorithm. The focus of
this research is on the construction and verification of an efficient modeling environment
that captures the dynamic properties of the system and allows many different analysis
techniques to be conveniently implemented. This is accomplished through the
implementation of Mathematica by Wolfram Research, Inc..
The presented methodology utilizes rigid body, lumped parameter systems and
Lagrange's energy formalism. The modeling environment facilitates versatility by
allowing straightforward transformations of the model being developed to different forms
and domains. The final results are symbolic expressions derived from the equations of
motion. However, this approach is predicated upon the absence of significant low
frequency flexible vibration modes in the system. This requirement can be well satisfied
in the parallel structure machine tools, the main subject of this research.
The modeling environment allows a number of techniques for validation to be
readily implemented. This includes intuitive checks at key points during model derivation
as well as applications of more traditional experimental validation. In all presented cases
the analysis can be performed in the same software package that was used for model
development.
Integration of the generation, validation, and troubleshooting methodology
delineated in this research facilitates development of accurate models that can be applied
in structure design and exploitation. Possible applications of these models include
parameter identification, visualization of vibration, automated supervision and
monitoring, and design of advanced control strategies for minimization of dynamic tool
path errors. The benefits are especially prevalent in parallel structure machine tools,
where there is still a lack of experience. Latest developments in measurement techniques
and the emergence of new sensors facilitate reliable validation and optimization of the
models.Graduation date: 1999
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Lin, Jian-hao, and 林建豪. "Dynamic simulation and control design of SOFC/GT hybrid power generation systems." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/66963293343775844034.
Full textAbstract:
碩士國立雲林科技大學
化學工程與材料工程研究所
99
In recent years, the energy crisis is search for new energy sources is urgent, and the birth of fuel cells, making the new energy has a new direction. Fuel cell becomes the new energy direction. This study is combined solid oxide fuel cell and gas turbine. The electrical efficiency of original design increases from 40% to 50% and the solid oxide fuel cell hybrid power system can reach 60% of the high electrical efficiency. Then using internal reforming to produce hydrogen to supply fuel cells which can avoid the risk of transport and storage. Simulation, finding solid oxide fuel cell and gas turbine start-up phase of the performance changes, and finding the different feed ratio of the system to find the best condition. The temperature fuel cell system is a important variable, so we use the PID controller to control the temperature of the fuel cell system. Using methane flow rate as the control variables achieves the effect of temperature control system. And use this controller to eliminate disturbance of fuel cell to reach steady state.
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Lin, Yun-Meng, and 林筠萌. "Dynamic Gait Generation for a Leg-Wheel Transformable Robot Based on Force Control." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/25mme6.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
106
Multi-legged robots are one of the most popular topics in robotics owing to their ability to move stably and their superior obstacle negotiation. In recent years, most research teams have put their emphasis on force control strategies because they allow the robot to tolerate greater error compared to position control, and therefore make the motion more robust. The purpose of this thesis is to develop dynamic gaits for a leg-wheel transformable robot, TurboQuad, and evaluate its motion performance. Model-based control is used and the SLIP (spring-loaded inverted pendulum) model is chosen. A force control method is developed to make the translational degree of freedom of the leg-wheel perform spring-like motion to match the spring in the SLIP model. Parameters of the SLIP model that suit the robot are searched for, to initiate dynamic gaits such as trotting and pronking. Then the effects of these parameters are discussed to build the basis for choosing suitable trajectories. The ability to transition between two stable operation points is also developed. Besides, hopping behavior is accomplished by current control. The original control structure of TurboQuad is preserved (i.e. Central Pattern Generator) and combined with model-based control. The mechatronic system is upgraded to meet the requirements for the robot to perform versatile behaviors. A turning strategy is developed and differential steering is used to reduce slippage. The performance of the robot in terms of energy efficiency, obstacle negotiation ability and motion smoothness are also evaluated.
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Auer, Anthony. "Using Discrete-Event Systems for the Automatic Generation of Concurrency Control for Dynamic Threads." Thesis, 2010. http://hdl.handle.net/1974/5690.
Full textAbstract:
The application of Discrete-Event Systems (DES) theory to the problem of guar- anteeably enforcing concurrency constraints in multi-threaded applications has been studied under certain assumptions, namely, the assumption of a static pool of pre- existing instantiated threads, whose creation and termination are not modelled. This work proposes an extension of this case to handle dynamically instantiated and termi- nated threads using a Petri net formalism and an online limited-lookahead state-space search technique.Thesis (Master, Computing) -- Queen's University, 2010-05-27 17:00:15.99
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Lai, Lin. "A Development of Design and Control Methodology for Next Generation Parallel Hybrid Electric Vehicle." Thesis, 2013. http://hdl.handle.net/1969.1/149289.
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Commercially available Hybrid Electric Vehicles (HEVs) have been around for more than ten years. However, their market share remains small. Focusing only on the improvement of fuel economy, the design tends to reduce the size of the internal combustion engine in the HEV, and uses the electrical drive to compensate for the power gap between the load demand and the engine capacity. Unfortunately, the low power density and the high cost of the combined electric motor drive and battery packs dictate that the HEV has either worse performance or much higher price than the conventional vehicle. In this research, a new design philosophy for parallel HEV is proposed, which uses a full size engine to guarantee the vehicle performance at least as good as the conventional vehicle, and hybridizes with an electrical drive in parallel to improve the fuel economy and performance beyond the conventional cars. By analyzing the HEV fuel economy versus the increasing of the electrical drive power on typical driving conditions, the optimal hybridization electric power capacity is determined. Thus, the full size engine HEV shows significant improvement in fuel economy and performance, with relatively short cost recovery period.
A new control strategy, which optimizes the fuel economy of parallel configured charge sustained hybrid electric vehicles, is proposed in the second part of this dissertation. This new approach is a constrained engine on-off strategy, which has been developed from the two extreme control strategies of maximum SOC and engine on-off, by taking their advantages and overcoming their disadvantages. A system optimization program using dynamic programming algorithm has been developed to calibrate the control parameters used in the developed control strategy, so that the control performance can be as close to the optimal solution as possible. In order to determine the sensitivity of the new control strategy to different driving conditions, a passenger car is simulated on different driving cycles. The performances of the vehicle with the new control strategy are compared with the optimal solution obtained on each driving condition with the dynamic programming optimization. The simulation result shows that the new control strategy always keeps its performance close to the optimal one, as the driving condition changes.
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Chen, Shuo-Yen, and 陳碩彥. "Hybrid-System Modeling and Active Gait Generation Control for a Passive Dynamic Walking Biped Robot." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/64982809742404351756.
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Lee, Lung-Chun, and 李龍群. "Dynamic Performance Analysis of Digital Static Excitation Control System with PSS for Co-generation Plant." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/06634161200219824640.
Full textAbstract:
碩士長庚大學
電機工程研究所
90
This thesis aims to introduce the dynamic performance evaluation of the digital static excitation control system (DSECS) equipped with power system stabilizer (PSS) for a real co-generation plant. First, the structure of digital excitation system and the time domain stability test method for excitation control systems (ECS) are briefed and listed. The function and rules of parameter setting of power system stabilizer suggested by the IEEE-421.2 are introduced. Accordingly, the PSS is designed based on the linearlinzed single-machine against infinite-bus model. Finally, the power system simulation programs, Matlab and ETAP, are employed for simulations to evaluate the dynamic performances of DSESC with PSS for the co-generation plant suffering various types of disturbance.
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Huang, Yen-Cheng, and 黃彥程. "Dual Null-Space Based Controller Design with Signal Compensation for Conflicting Tasks: Multi-Agent System Formation Control and Dynamic Obstacle Avoidance." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/5x3bpq.
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碩士國立臺灣大學
電機工程學研究所
107
With the declining price of UAVs such as quadrotors and the diversification of drone applications, the demand for multi-agent control is gradually increasing. The three basic features of multi-agent control are formation, trajectory tracking, and obstacle avoidance. Nowadays most of the research aims to achieve the three goals at the same time. Out of all the controllers proposed to solve the multi-task problem, null-space based controller stood out for its ability to appoint priority in tasks, tasks’ priority interchangeability and the simplicity in proving Lyapunov stability. But after examining the design principle and proof of Lyapunov stability, we realized the advantage above are based on the assumption that the tasks are mutually non-conflicting, which is usually not the case in multi-agent control problem. Also, the null-space method eliminates partial controller signal for lower-rank task, which causes the unnecessary sacrifice of lower-task and larger error. In this thesis, we take the control signal for lower-rank task as the input for higher-rank controller, then we redesign higher-rank controller so that the eliminated control signal is partially compensated which decrease the tasks’ aggregated error. The controller design also ensures the system is stable under conflicting tasks assumption, and the parameters are bounded. We also design the dual null-space controller in order to apply virtual leader for agent group’s path planning, which enables obstacle avoidance and tracking while target tracking point is in an inadmissible condition, for example, colliding with an obstacle. At the end, we test the dual null-space based controller design on Python. We verify the performance of formation and tracking control with and without dynamic obstacles, and the decrease in aggregated error in comparison with those by the traditional null-space controller.
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Ogunlowore, Olabanjo Jude. "Realtime Motion Planning for Manipulator Robots under Dynamic Environments: An Optimal Control Approach." Thesis, 2013. http://hdl.handle.net/10012/7405.
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This report presents optimal control methods integrated with hierarchical control framework to realize real-time collision-free optimal trajectories for motion control in kinematic chain manipulator (KCM) robot systems under dynamic environments.
Recently, they have been increasingly used in applications where manipulators are required to interact with random objects and humans. As a result, more complex trajectory planning schemes are required. The main objective of this research is to develop new motion control strategies that can enable such robots to operate efficiently and optimally in such unknown and dynamic environments. Two direct optimal control methods: The direct collocation method and discrete mechanics for optimal control methods are investigated for solving the related constrained optimal control problem and the results are compared.
Using the receding horizon control structure, open-loop sub-optimal trajectories are generated as real-time input to the controller as opposed to the predefined trajectory over the entire time duration. This, in essence, captures the dynamic nature of the obstacles. The closed-loop position controller is then engaged to span the robot end-effector along this desired optimal path by computing appropriate torque commands for the joint actuators.
Employing a two-degree of freedom technique, collision-free trajectories and robot environment information are transmitted in real-time by the aid of a bidirectional connectionless datagram transfer. A hierarchical network control platform is designed to condition triggering of precedent activities between a dedicated machine computing the optimal trajectory and the real-time computer running a low-level controller.
Experimental results on a 2-link planar robot are presented to validate the main ideas. Real-time implementation of collision-free workspace trajectory control is achieved for cases where obstacles are arbitrarily changing in the robot workspace.
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Li-FanWu and 吳立凡. "Design and Implementation of Fuzzy Dynamic Gait Pattern Generation for Real-Time Push Recovery Control of Teen-Sized Humanoid Robot." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/3ydw4r.
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