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1
Smith, G. C. "Urban foxes (Vulpes vulpes) and rabies control." Thesis, University of Bristol, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.234565.
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Greentree, Carolyn, and n/a. "Experimental evaluation of fox control and the impact of foxes on lambs." University of Canberra. Science &Design, 2000. http://erl.canberra.edu.au./public/adt-AUC20060713.101158.
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Baiting with sodium monofluoroacetate (1080) to protect lambs (Ovis aries)
from red foxes (Vulpes vulpes L.) has become more frequent in NSW and other parts
of Australia during the last 10 years despite the lack of reported evidence evaluating
the effects of fox baiting on lamb survival. NSW Agriculture has developed fox
control recommendations aimed at minimising impact, but these guidelines have not
been tested experimentally. Defining the extent of a pest problem and the
effectiveness of pest control are key components of a strategic approach to vertebrate
pest management as it is the damage of pests that justifies their control.
This thesis describes an experimental evaluation of the recommended practice
of fox control in NSW. The effects of three levels of fox control were tested in the
experiment; no treatment, baiting once a year before lambing (the recommended
practice) and baiting three times a year (thought to be the maximum farmers would
instigate). Each treatment had two replicates. No previous manipulative experiment
using synchronous controls and matched replicates has been undertaken to test the
effects. The study quantifies the level of fox predation on healthy lambs and the level
of predation on lambs that had other causes including illness and mismothering
contributing to this fox predation. It also examines the response of the fox
population, lamb predation and lambing outcomes to different levels of fox control.
The cost effectiveness of fox control is examined in relation to lamb predation and an
investigation of the optimum level of fox control is begun. The experiment also
provides the first chance to consider the examination of multiple response variables
and the scale of field ecology experiments required to recognise a significant response
and avoid a Type II error due to between replicate variability even with tightly
controlled site selection criteria to standardise experimental sites, and with the
synchrony of experimental control and treatment surveys.
The study occurred on five sheep properties near Boorowa (34°28'S,
148°32'E) and Murringo (34°18'S, 148°3 1'E) in south-eastern Australia. The terrain
was undulating to hilly with a maximum elevation of 660 m above sea level. The main
agricultural enterprises in the district are Merino wool, fat lamb and beef cattle
production and winter cereal cropping. The native vegetation of Eucalyptus
woodland has been mostly cleared, though remnant patches occur. Most of the area
is now sown with pasture of Phalaris tuberosa, Lolium spp. and clover Trifolium
spp.. The experimental properties grazed self-replacing Merino flocks, primarily for
wool production, so lamb survival was vital to the economic operation of the farm.
Over 50 selection criteria including lamb survival rates, ewe fertility and bloodline,
sheep management practices, climate and habitat features that affect lamb survival,
past fox control practices and prey species were used to select sites Sites were
representative of most sheep farming properties in the region, but were also extremely
similar in factors that affected fox abundance and ewe and lamb survival, thus
minimising variation between replicate sites.
The manufactured meat baits used to poison foxes contained 3 mg of sodium monofluoroacetate (compound 1080). A replacement baiting program was carried
out in 1995 and 1996. Fox control programs were carried out over the experimental
units and adjacent buffer zones covering approximately two fox territories,
approximately 6km2, around the lambing paddock under study. The recommended fox
control practices described by NSW Agriculture also included neighbouring farmers
taking part in an extended group baiting program. In all the area baited at varying
intensities totalled 3400 km2. Synchronised lambing with neighbours was a further
recommended practice to reduce fox predation and was carried out on these sites.
Lambing occurred during a six to eight week period in late winter on all sites, a
practice known as 'spring lambing', and on many surrounding properties so a surplus
of lambs was available to foxes over a relatively short time.
The benefits of fox control were measured directly as enhanced lamb survival
derived from differences in lamb marking rates between ultrasounded flocks of
approximately 1000 ewes and the predation of lambs was measured from over 2000
lamb carcases post-mortemed in 1994, 1995 and 1996. A mean of 138 lambs were
expected at ultrasounding from 100 ewes and 113 lambs per 100 ewes were alive at
lamb marking.
There was no significant (P>0.05) effect of fox control on lambing
performance (the number of lambs per 100 ewes that lambed) Fox predation was
inferred as the cause of lamb death in a minimum of 0.8% and a maximum of 5.3% of
lamb carcases during 1995 and 1996. There was a significant (P<0 05) effect of fox
control on the minimum possible percentage of lamb carcases classified as healthy
lambs killed by foxes, with the percentage declining from 1.50% (no fox control), to
0.90% (fox control once per year) to 0.25% (fox control three times per year). There
was also a significant (P<0.005) effect of fox control on the maximum possible
percentage of lamb carcases classified as healthy lambs killed by foxes with the
percentage declining from 10.25% (no fox control), to 6.50% (fox control once per
year) to 3.75% (fox control three times per year). The observed results were used to
estimate the number of treatment replicates needed to be confident of detecting an
effect of predator control on lamb marking performance. The estimated numbers
were very high if small effects were to be detected. No significant correlation
between the fox density and the minimum and maximum possible number of lambs
carcases classified as killed by foxes was found. Bait uptake was monitored as were
the costs of fox control.
3
Porteus, Thomas Allen. "Evaluation of restricted-area culling strategies to control local red fox density." Thesis, University of British Columbia, 2015. http://hdl.handle.net/2429/52847.
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Lethal control of red foxes is often implemented on restricted areas where immigration from neighbouring sources is expected to make it difficult to keep local fox density low. The justification of lethal wildlife control should include demonstrating its effectiveness. To this end, population dynamics modelling may help to assess the performance of different control strategies in a range of real-world circumstances. A Bayesian state-space model for within-year fox population dynamics was developed that could be fitted to data on daily culling effort and success obtained from gamekeepers on shooting estates in Britain. The estimation model included parameters for key population processes within the culling area: immigration, cub recruitment and non-culling mortality. A simulation-estimation study showed that given a minimum of three years’ data the estimation of fox density and demographic parameters was reliable. Informative priors for the key model parameters were constructed using empirical data and meta-analysis. Data from 22 estates were modelled on a two-weekly time-step. Most estates achieved some suppression of the fox population relative to estimated carrying capacity, but few maintained consistently low densities. The number of foxes killed was a poor indicator of culling effectiveness, highlighting the need for modelling. Estimated immigration rates onto estates were typically high, indicating rapid replacement of culled foxes. There was unexpectedly high spatial variation among estates in estimated carrying capacity and immigration rate. There was evidence from a limited subset of estates that the variable density of released game birds may explain this. The food requirement of the fox population during the nesting period was assumed to indicate predation pressure on wild birds. Alternative culling strategies to reduce this requirement were evaluated using posterior parameter estimates from some estates. Culling concentrated in spring and summer only was more effective than culling uniformly throughout the year. Autumn-only culling was not an effective strategy for wild birds. Open-loop strategies were most effective as culling effort was used all the time. However, closed-loop strategies, where culling effort was conditional on feedback from simulated field-sign searches, achieved similar effects on food requirements using less effort. This revealed trade-offs between effectiveness, cost and animal welfare.Science, Faculty of
Zoology, Department of
Graduate
4
Furlong, Michael John. "The impact of a generalist predator, the red fox (Vulpes vulpes), on its main prey populations." Thesis, University of Bristol, 2000. http://hdl.handle.net/1983/927e8373-6f96-4637-a525-0ca219c900e7.
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Lizarraga, Mariano I. "Autonomous landing system for a UAV." Thesis, Monterey California. Naval Postgraduate School, 2004. http://hdl.handle.net/10945/1655.
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Approved for public release, distribution is unlimitedThis thesis is part of an ongoing research conducted at the Naval Postgraduate School to achieve the autonomous shipboard landing of Unmanned Aerial Vehicles (UAV). Two main problems are addressed in this thesis. The first is to establish communication between the UAV's ground station and the Autonomous Landing Flight Control Computer effectively. The second addresses the design and implementation of an autonomous landing controller using classical control techniques. Device drivers for the sensors and the communications protocol were developed in ANSI C. The overall system was implemented in a PC104 computer running a real-time operating system developed by The Mathworks, Inc. Computer and hardware in the loop (HIL) simulation, as well as ground test results show the feasibility of the algorithm proposed here. Flight tests are scheduled to be performed in the near future.
Lieutenant Junior Grade, Mexican Navy
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D'Amelio, Jeffrey David. "Development of a Digital Controller for Motor Control Experiments in the EE472 Lab." DigitalCommons@CalPoly, 2014. https://digitalcommons.calpoly.edu/theses/1339.
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A digital motor controller for student lab use is designed, built, and tested. The controller uses an encoder for position measurement, and an H-bridge to drive the electromechanical plant.
A user interface is created to enhance usability of the device. The user interface is able to display key parameters of the control algorithm as well as the state of the system. It is also used to modify the gains and sample rate of the control algorithm.
The design of the system is refined, and 10 units are built for the EE472 Digital Controls Lab. The lab manuals for the first 4 experiments are revised to match and support the new system.
The possible future for the project is described with some suggestions for improving the system.
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Agbi, Clarence. "Scalable and Robust Designs of Model - Based Control Strategies for Energy - Efficient Buildings." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/333.
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In the wake of rising energy costs, there is a critical need for sustainable energy management of commercial and residential buildings. Buildings consume approximately 40% of total energy consumed in the US, and current methods to reduce this level of consumption include energy monitoring, smart sensing, and advanced integrated building control. However, the building industry has been slow to replace current PID and rule-based control strategies with more advanced strategies such as model-based building control. This is largely due to the additional cost of accurately modeling the dynamics of the building and the general uncertainty that model-based controllers can be reliably used in real conditions. The first half of this thesis addresses the challenge of constructing accurate grey-box building models for control using model identification. Current identification methods poorly estimate building model parameters because of the complexity of the building model structure, and fail to do so quickly because these methods are not scalable for large buildings. Therefore, we introduce the notion of parameter identifiability to determine those parameters in the building model that may not be accurately estimated and we use this information to strategically improve the identifiability of the building model. Finally, we present a decentralized identification scheme to reduce the computational effort and time needed to identify large buildings.
The second half of this thesis discusses the challenge of using uncertain building models to reliably control building temperature. Under real conditions, building models may not match the dynamics of the building, which directly causes increased building energy consumption and poor thermal comfort. To reduce the impact of model uncertainty on building control, we pose the model-based building control problem as a robust control problem using well-known H1 control methods. Furthermore, we introduce a tuning law to reduce the conservativeness of a robust building control strategy in the presence of high model uncertainty, both in a centralized and decentralized building control framework.
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JÃnior, AntÃnio Barbosa de Souza. "Hybrid position controller for an field-oriented induction motor drive." Universidade Federal do CearÃ, 2014. http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=13468.
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CoordenaÃÃo de AperfeÃoamento de Pessoal de NÃvel SuperiorThis work describes the study and implementation of a hybrid control technique applied to the positioning of the rotor shaft in a three-phase induction motor (IM). The machine has been modeled using the field oriented control (FOC) strategy. In additional, it is used three controllers to obtain the design of the position loop, each one with different operating characteristics. Initially, two constant gain controllers are associated with the position loop diagram in the FOC technique in order to obtain a fastest response, with disturbance rejection and without overshoot. Therefore, it used a Proportional (P) controller based on Ziegler-Nichols tuning method so that a faster system response is achieved and a predictive control strategy called Generalized Predictive Control (GPC), based on Proportional â Integral controller tuning form, to smooth the overshoot caused by the P controller. Subsequently, seeking a more efficient performance of the position control in the IM, It used a control strategy based on fuzzy logic that takes into account the weighting of P and GPC controllers together. For purposes of validation, simulations and experimental results of the P, GPC and hybrid control strategies are presented. The simulation was set up in Matlab/Simulink and the experimental plant was implemented with a Digital Signal Controller (DSC), manufactured by Texas Instruments TMS320F2812. Analyzing the results, the Proportional demonstrated the fastest reference tracking, among the others techniques, with a settling time of 0.25 seconds, however with overshoot. The GPC controller presented a longer accommodation time, about 2 seconds and without overshoot. The application of the hybrid proposed technique combine the fast tracking reference of the P controller, about 1 second to reach the reference, and without overshoot as in the GPC controller results. Besides, the robust characteristic of both controllers was maintained in the hybridization proposed technique.
Este trabalho descreve o estudo e implementaÃÃo de uma tÃcnica de controle hÃbrida aplicada ao posicionamento do eixo de um motor de induÃÃo trifÃsico (MIT). O motor de induÃÃo foi modelado usando-se a estratÃgia de controle de campo orientado a fim de projetar para a malha de posiÃÃo trÃs controladores, cada um com diferentes caracterÃsticas de operaÃÃo. Neste caso, incorporou-se inicialmente à malha de posiÃÃo da estratÃgia de controle de campo orientado a aÃÃo de dois controladores de ganho constante com o objetivo de posicionar o eixo de forma rÃpida, com pouco sobressinal e com rejeiÃÃo à perturbaÃÃo. Desta forma, utilizou-se um controlador Proporcional (P) com sintonia baseada em Ziegler-Nichols de modo a se obter uma caracterÃstica mais rÃpida do sistema e, uma estratÃgia de controle preditivo denominada de GPC (Generalized Predictive Control) com o objetivo de suavizar a aÃÃo do controlador P em termos de elevado sobressinal considerando a sintonia do controlador GPC baseada em um controlador Proporcional-Integral (PI). Posteriormente, para se obter um desempenho mais eficiente do controle de posiÃÃo do MIT, utilizou-se uma estratÃgia de controle baseada em lÃgica fuzzy de modo a se levar em conta a ponderaÃÃo dos controladores P e GPC, conjuntamente. Para fins de validaÃÃo sÃo apresentados resultados da aplicaÃÃo das estratÃgias de controle P, GPC e hÃbrida no controle de posiÃÃo do MIT a partir de simulaÃÃes em ambiente Matlab/Simulink e atravÃs da implementaÃÃo do sistema de controle de posiÃÃo utilizando-se um processador digital de sinais, o DSP TMS320F2812 fabricado pela Texas Instruments. A partir dos resultados encontrados, o Proporcional demonstrou um rÃpido seguimento de referÃncia, dentre as tÃcnicas utilizadas, com tempo de acomodaÃÃo experimental de 0,25 segundos, porÃm com sobressinal. O controlador GPC apresentou um tempo de acomodaÃÃo maior, cerca de 2 segundos e sem sobressinal. A aplicaÃÃo da tÃcnica hÃbrida proposta conseguiu combinar o rÃpido seguimento de referÃncia do Proporcional, levando cerca de 1 segundo para alcanÃar a referÃncia, e sem sobressinal como o controlador GPC. AlÃm do que, como os controladores possuem uma caracterÃstica robusta tambÃm se garantiu essa propriedade para o hibridismo proposto.
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Abbaspour, Ali Reza. "Active Fault-Tolerant Control Design for Nonlinear Systems." FIU Digital Commons, 2018. https://digitalcommons.fiu.edu/etd/3917.
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Faults and failures in system components are the two main reasons for the instability and the degradation in control performance. In recent decades, fault-tolerant control (FTC) approaches were introduced to improve the resiliency of the control system against faults and failures. In general, FTC techniques are classified into two major groups: passive and active. Passive FTC systems do not rely on the fault information to control the system and are closely related to the robust control techniques while an active FTC system performs based on the information received from the fault detection and isolation (FDI) system, and the fault problem will be tackled more intelligently without affecting other parts of the system.
This dissertation technically reviews fault and failure causes in control systems and finds solutions to compensate for their effects. Recent achievements in FDI approaches, and active and passive FTC designs are investigated. Thorough comparisons of several different aspects are conducted to understand the advantages and disadvantages of different FTC techniques to motivate researchers to further developing FTC, and FDI approaches.
Then, a novel active FTC system framework based on online FDI is presented which has significant advantages in comparison with other state of the art FTC strategies. To design the proposed active FTC, a new FDI approach is introduced which uses the artificial neural network (ANN) and a model based observer to detect and isolate faults and failures in sensors and actuators. In addition, the extended Kalman filter (EKF) is introduced to tune ANN weights and improve the ANN performance. Then, the FDI signal combined with a nonlinear dynamic inversion (NDI) technique is used to compensate for the faults in the actuators and sensors of a nonlinear system. The proposed scheme detects and accommodates faults in the actuators and sensors of the system in real-time without the need of controller reconfiguration.
The proposed active FTC approach is used to design a control system for three different applications: Unmanned aerial vehicle (UAV), load frequency control system, and proton exchange membrane fuel cell (PEMFC) system. The performance of the designed controllers are investigated through numerical simulations by comparison with conventional control approaches, and their advantages are demonstrated.
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Polston, James D. "DECENTRALIZED ADAPTIVE CONTROL FOR UNCERTAIN LINEAR SYSTEMS: TECHNIQUES WITH LOCAL FULL-STATE FEEDBACK OR LOCAL RELATIVE-DEGREE-ONE OUTPUT FEEDBACK." UKnowledge, 2013. http://uknowledge.uky.edu/me_etds/24.
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This thesis presents decentralized model reference adaptive control techniques for systems with full-state feedback and systems with output feedback. The controllers are strictly decentralized, that is, each local controller uses feedback from only local subsystems and no information is shared between local controllers.
The full-state feedback decentralized controller is effective for multi-input systems, where the dynamics matrix and control-input matrix are unknown. The decentralized controller achieves asymptotic stabilization and command following in the presence of sinusoidal disturbances with known spectrum. We present a construction technique of the reference-model dynamics such that the decentralized controller is effective for systems with arbitrarily large subsystem interconnections.
The output-feedback decentralized controller is effective for single-input single-output subsystems that are minimum phase and relative degree one. The decentralized controller achieves asymptotic stabilization and disturbance rejection in the presence of an unknown disturbance, which is generated by an unknown Lyapunov-stable linear system.
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Sereni, Bruno. "Static output feedback control for LPV and uncertain LTI systems /." Ilha Solteira, 2019. http://hdl.handle.net/11449/180732.
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Orientador: Edvaldo AssunçãoResumo: Este trabalho aborda o controle via realimentação estática de saída aplicado à sistemas lineares com parâmetro variante (LPV) e lineares incertos invariantes no tempo (LIT). O projeto de ganhos de realimentação estática de saída apresentado neste trabalho é baseado no método dos dois estágios, o qual consiste em primeiramente obter um ganho de realimentação de estados, e então, utilizar esta informação no segundo estágio para obter-se o ganho de realimentação estática de saída desejado. As soluções para os problemas investigados são apresentadas na forma de desigualdades matriciais lineares (no inglês, linear matrix inequalities, LMIs), obtidas por meio da aplicação do Lema de Finsler. Baseado em resultados anteriores encontrados na literatura, este trabalho propõe uma estratégia de relaxação de forma a obter um método menos conservador para obtenção de ganhos robustos de realimentação estática de saída para sistemas incertos LTI. Na estratégia proposta, as variáveis adicionais do Lema de Finsler são consideradas como dependentes de parâmetro, juntamente com o uso de funções de Lyapunov dependentes de parâmetro (no inglês, parameter-dependent Lyapunov functions, PDLFs). É apresentado um estudo avaliando a eficácia da estratégia proposta em fornecer uma maior região de factibilidade para um dado problema. Os resultados foram utilizados em uma comparação com um método de relaxação baseado apenas no uso de PDLFs. Uma segunda contribuição deste trabalho consiste na proposta de um... (Resumo completo, clicar acesso eletrônico abaixo)
Abstract: The static output feedback (SOF) control applied to linear parameter-varying (LPV) and uncertain linear time-invariant (LTI) systems are addressed in this work. The approach chosen for the design of SOF gains is based on the two-stage method, which consists in obtaining a state feedback gain at first, and then using that information for deriving the desired SOF gain at the second stage. The solutions for the investigated problems are presented in terms of linear matrix inequalities (LMIs), obtained by means of the application of the Finsler's Lemma. Based on previous papers found in literature, this work proposes a relaxation strategy in order to achieve a less conservative method for obtaining robust SOF gains for uncertain LTI systems. In the proposed strategy, the Finsler's Lemma additional variables are considered to be parameter-dependent along with the use of parameter-dependent Lyapunov functions (PDLFs). A study evaluating the effectiveness of the proposed strategy in providing a larger feasibility region for a given problem is presented. The results were used in a comparison with a relaxation method based only on PDLFs. Another contribution of this work lies in the proposal of a solution for the control of LPV systems via the design of a gain-scheduled SOF controller. The methods proposed for both control problems were applied on the design of controllers for an active suspension system. In the experiments, it was assumed that only one of its four system's states wer... (Complete abstract click electronic access below)
Mestre
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Barbosa, Filipe Marques. "Robust recursive path-following control for autonomous heavy-duty vehicles." Universidade de São Paulo, 2018. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-14032019-082753/.
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Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass variation. In addition, uncertainties on mass may have the potential to significantly decrease the performance of the system, even to the point of destabilising it. These parametric variations must be taken into account during the design of the controller. However, robust control techniques usually require offline adjustment of auxiliary tuning parameters, which is not practical and leads to sub-optimal operation. Hence, this work presents an approach to path-following and lateral control for autonomous heavy-duty vehicles subject to parametric uncertainties by using a robust recursive regulator. The main advantage of the proposed controller is that it does not depend on the offline adjustment of tuning parameters. Parametric uncertainties were assumed to be on the payload, and an H∞ controller was used for performance comparison in simulations. The performance of both controllers is evaluated in a double lane-change manoeuvre. Simulation results showed that the proposed method had better performance in terms of robustness, lateral stability, driving smoothness and safety, which demonstrates that it is a very promising control technique for practical applications. Ultimately, experiment tests in a rigid heavy-duty truck validate what was found in simulation results.O seguimento de caminho e a estabilidade lateral são questões cruciais para veículos autônomos. Além disso, devido à baixa capacidade de manobra, tamanho e grande variação de massa, estes problemas se tornam mais complexos quando se trata de veículos pesados. Adicionalmente, as incertezas na massa têm o potencial de diminuir significativamente o desempenho do sistema, chegando ao ponto de desestabilizá-lo, assim, essas variações paramétricas devem ser consideradas durante o projeto do controlador. No entanto, as técnicas de controle robusto geralmente exigem o ajuste off-line de parâmetros auxiliares do controlador, o que não é prático e lava a uma operação sub-ótima. Assim, este trabalho apresenta uma abordagem de controle de seguimento de caminho e controle lateral para veículos pesados autônomos sujeitos a incertezas paramétricas usando um regulador robusto recursivo. A principal vantagem deste controlador é que ele não depende do ajuste off-line de parâmetros. Assumiu-se que as incertezas paramétricas estavam na carga do veículo, e um controlador H∞ foi usado para comparar o desempenho em simulação. O desempenho de ambos os controladores é avaliado em uma manobra de mudança de faixa. Os resultados de simulação mostraram que o método proposto apresentou melhor desempenho em termos de robustez, estabilidade lateral, suavidade na condução e segurança, o que o demonstra como uma técnica de controle bastante promissora para aplicações práticas. Por fim, testes experimentais em um caminhão rígido reforçam os resultados obtidos em simulação.
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Juan, Cathy. "Des univers de croyance : l'implication ou la recherche d'un modèle invariant." Paris 8, 2000. http://www.theses.fr/2000PA081819.
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Ce travail contribue a l'elaboration d'un cadre epistemologique precis dans lequel pouvoir inscrire les phenomenes de croyance. Se demarquant d'abord, dans une premiere partie, de la problematique qui a trop longtemps retenu les sciences sociales autour de la notion d'irrationalite, il est apparu primordial de considerer la croyance en termes de processus. On connait, a ce propos, le role indispensable de la regulation sociale en tant que mecanisme psychosocial qui intervient dans le contexte de l'orthodoxie religieuse (deconchy, 1980). Dans un premier temps, nous avons consacre une large partie de la recherche au suivi du fonctionnement de la communaute des temoins de jehovah. Nous avons procede a l'examen detaille de contenus de croyance fortement regules par le groupe d'appartenance religieux. Correlativement, nous avons aborde dans un deuxieme temps, un ensemble plus heterogene d'objets de croyance non soutenus par une regulation sociale orthodoxe. Plus connues sous l'appellation de croyances paralleles (l'astrologie, la voyance, le facteur psi, la reincarnation, les ovni, l'experience de mort imminente, les medecines paralleles, etc. ), nous avons cherche a mettre en evidence les processus susceptibles de se trouver a l'origine de la recevabilite de ces contenus aupres d'une population d'etudiants en deug. Les resultats de deux etudes experimentales signalent que l'implication etablie sous la forme de trois dimensions socio-cognitives, l'identification personnelle, la valorisation et la capacite percue d'action (rouquette, 1997, 1998), peut etre consideree comme un processus generant l'acceptation de ces croyances heterodoxes.
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Burnett, Kent R. "A PROPOSED CONTROL SOLUTION FOR THE CAL POLY WIND ENERGY CAPTURE SYSTEM." DigitalCommons@CalPoly, 2012. https://digitalcommons.calpoly.edu/theses/779.
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The focus of this thesis is to research, analyze, and design a reliable and economical control system for the Cal Poly Wind Energy Capture System (WECS). A dynamic permanent magnet generator model is adopted from [1] and [2] and combined with an existing wind turbine model to create a non-linear time varying model in MATLAB. The model is then used to analyze potentially harmful electrical disturbances, and to define safe operating limits for the WECS. An optimal operating point controller utilizing a PID speed loop is designed with combined optimization criteria and the final controller design is justified by comparing performance measures of energy efficiency and mitigation of mechanical loads. The report also discusses implications for a WECS when blade characteristics are mismatched with the generator. Finally, possible ways to improve the performance of the Cal Poly WECS are addressed.
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Ferreira, Castellane Silva [UNESP]. "Sistema de gerenciamento automático de reatores eletrônicos com ajuste do nível de luminosidade para múltiplas lâmpadas fluorescentes." Universidade Estadual Paulista (UNESP), 2008. http://hdl.handle.net/11449/87118.
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Este trabalho trata do desenvolvimento e implementação de um sistema de iluminação fluorescente com gerenciamento automático baseado em reatores eletrônicos aplicados a múltiplas lâmpadas fluorescentes. O foco desta pesquisa é direcionado ao desenvolvimento de uma plataforma automática de gerenciamento e supervisão, propiciando o controle de luminosidade, acionamento remoto e também acionamentos programáveis de acordo com o expediente de trabalho do local e condições de iluminação natural do ambiente, além de prover aumento de vida útil das lâmpadas fluorescentes, em função de protocolo proposto para préaquecimento e ignição. Foram acoplados ao sistema sensores de luminosidade e de presença, permitindo a obtenção dos dados necessários para a atuação automática. O controle por calha das lâmpadas fluorescentes é feito por um microcontrolador AtMega8 da ATMEL, o qual é responsável pela automação do sistema. A plataforma de gerenciamento e monitoração utiliza um microcomputador para que seja executado o aplicativo desenvolvido, o qual provê uma interface amigável ao usuário. Assim, um protocolo de comunicação foi desenvolvido para que haja uma comunicação de dados confiável, oferecendo robustez e alta confiabilidade ao controle do sistema de iluminação. Para o processamento dos dados, foi utilizado o barramento serial de comunicação full duplex com padrão RS232 e RS485 com transmissão assíncrona. Adicionalmente, o sistema funciona no sistema mestre-escravo, sendo o microcomputador responsável por enviar endereçamentos e ordens de ação aos microcontroladores, os quais identificam os endereçamentos e dados, executam a ação programada e envia dado de monitoramento ao microcomputador, quando requisitado pelo usuário.
In this work, the development and implementation of an illumination fluorescent system with automatic management based on electronic ballast applied to multiple fluorescent lamps are presented. This research is directed in the development of the management and supervision of an automatic platform, allowing the control of luminosity, the remote actuation and also the programmable actuation according with the local business work and conditions of natural light of the environment. In addition, the ballast will provide the increase in the average lifetime for fluorescent lamps, considering a proposed protocol to pre-heating and ignition. The automatic actuation of the system is allowed by the coupling, of the luminosity and presence sensors. The control of fluorescent lamps by channel is executed by an ATMEL’s AtMega8 microcontroller, which is responsible for the system automation. The management and monitoring platform uses a microcomputer with purpose to execute the implemented application, which will provide a friendly interface to the user. Thus, a protocol of communication was developed to allow a reliable communication of data, providing robustness and high reliability to the control of lighting system. Considering the processing of data acquired, was used a Serial Bus of communication with full duplex standard RS232 and RS485, with asynchronous transmission. Additionally, the system works in the master-slave mode, and the microcomputer is responsible for sending addresses and orders of action to microcontrollers, which identify and address data, in order to perform the programmed action to it, and in order to send data to the microcomputer, when requested by the user.
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Kamaldar, Mohammadreza. "DISCRETE-TIME ADAPTIVE CONTROL ALGORITHMS FOR REJECTION OF SINUSOIDAL DISTURBANCES." UKnowledge, 2018. https://uknowledge.uky.edu/me_etds/129.
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We present new adaptive control algorithms that address the problem of rejecting sinusoids with known frequencies that act on an unknown asymptotically stable linear time-invariant system. To achieve asymptotic disturbance rejection, adaptive control algorithms of this dissertation rely on limited or no system model information. These algorithms are developed in discrete time, meaning that the control computations use sampled-data measurements. We demonstrate the effectiveness of algorithms via analysis, numerical simulations, and experimental testings. We also present extensions to these algorithms that address systems with decentralized control architecture and systems subject to disturbances with unknown frequencies.
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Johnson, Henric. "Toward adjustable lightweight authentication for network access control /." Karlskrona : Blekinge Institute of Technology, 2005. http://www.bth.se/fou/Forskinfo.nsf/allfirst2/30ef501d402539d3c12570f5005184f4?OpenDocument.
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Lyrio, Lucas Nogueira Santos. "As ações para o controle das infecções hospitalares em Aracaju: resultados de um inquérito da Vigilância Sanitária Municipal." Instituto de Saúde Coletiva, 2012. http://repositorio.ufba.br/ri/handle/ri/16227.
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As infecções hospitalares (IH) são eventos adversos decorrentes de procedimentos diagnósticos e terapêuticos realizados no ambiente hospitalar. Devido ao aumento em sua incidência nas últimas décadas, as IH tornaram-se importante foco de atenção e medidas para prevenção, controle e promoção de um ambiente livre da infecção hospitalar foram adotadas mundialmente. No Brasil, normas regulamentando a criação e funcionamento de comissões e programas de controle de infecção hospitalar (CCIH e PCIH) existem desde 1983. Entretanto, poucos estudos avaliaram o grau de conformidade com a legislação dos PCIH implantados. Este estudo teve como objetivo verificar o grau de conformidade dos PCIH dos 16 hospitais de Aracaju em relação às normas definidas pela Portaria GM/MS nº 2616/98, no ano de 2011. Além disso, buscou obter informações sobre as ações de prevenção e controle de IH desenvolvidas pelas CCIH destes hospitais, e sobre a estrutura e funcionamento das CCIH destes hospitais, com intuito de oferecer subsídios para discussão a respeito da política de controle de IH do sistema de saúde em Aracaju. Tratou-se de um estudo descritivo, de corte transversal, onde foram utilizados dados secundários fornecidos pela Coordenação de Vigilância Sanitária de Aracaju (COVISA/AJU) de inspeções sanitárias realizadas em 16 hospitais de Aracaju no ano de 2011. Durante as inspeções, a COVISA/AJU utilizou um instrumento padronizado, constituído por quatro grupos de indicadores específicos relacionados à qualidade do PCIH: 1) estrutura técnico-operacional do PCIH; 2) diretrizes operacionais de controle e prevenção de IH; 3) sistema de vigilância epidemiológica de IH; e 4) atividades de controle e prevenção de IH. As análises foram realizadas através do programa Epi Info. Estas constaram de estatísticas descritivas, como frequência absoluta e relativa, relacionadas aos grupos de indicadores citados. Foi determinada e descrita a frequência de conformidade dos PCIH com base na Portaria GM/MS nº 2616/98. O padrão de conformidade dos 16 hospitais para cada grupo de indicadores foi de 68%, 68%,57% e 57%, respectivamente. Em relação à frequência de conformidade dos grupos de indicadores, segundo a natureza administrativa dos hospitais, observou-se melhores desempenhos para o grupo relacionado às diretrizes operacionais de controle e prevenção de IH nos hospitais privados e públicos em comparação aos filantrópicos. Os demais grupos de indicadores apresentaram frequências de conformidade semelhantes entre os hospitais das três naturezas. Conclui-se que os programas de prevenção e controle de IH desenvolvidos pelos hospitais de Aracaju são incipientes e que não atendem integralmente os requisitos da legislação sanitária vigente. Recomenda-se ao município de Aracaju constituir Coordenação Municipal de Controle de Infecção Hospitalar para conduzir a incorporação de medidas de controle de IH nos hospitais instalados em seu território e apoiá-los na aplicação dessas medidas.
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Janzon, Amelie, and Andreas Olsson. "Controlling For a Sustainable Future : The practical use of management control systems." Thesis, Uppsala universitet, Företagsekonomiska institutionen, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-324882.
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Sustainability is becoming increasingly more important for companies as the public demands that companies are more transparent and act in a responsible manner. This thesis researches what role management control systems play when implementing and working with sustainability. This was done by interviewing CSO’s and controllers as well as examining annual financial and sustainability reports at three large Swedish firms, all praised for their sustainability work. The data was compared between the case companies and analysed by using the management control systems framework by Malmi and Brown (2008). The findings show that the cultural controls coupled with the administrative controls have the most important role to play when implementing sustainability, as they provide the basis for the other control systems. These other control systems have currently a much smaller role to play as there are still challenges connected to sustainability that hinder the use of these control systems to their full potential. The findings further show that the key to implementing sustainability lies in the company’s ability to find and create business cases concerning sustainability as this help aligning the sustainability goals with the business goals and overall strategy.
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Wernstedt, Fredrik. "Multi-agent systems for distributed control of district heating systems /." Karlskrona : Blekinge Institute of Technology, 2005. http://www.bth.se/fou/Forskinfo.nsf/allfirst2/51e3dfb98bb6ba6bc1257107002f6d29?OpenDocument.
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Al-Shantaf, Abdulraouf O. "A Computer-Based Process Control System for a Target Station in a LINAC Facility." Thesis, University of North Texas, 1999. https://digital.library.unt.edu/ark:/67531/metadc278077/.
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An event-driven, sequential, process control system was designed for International Isotopes, Inc., to automate and remotely control a target station at the company's linear accelerator facility. The designed system consisted of two major sections: a software program (virtual instrument), which was developed by LabVIEW, and a hardware interface (FieldPoint Modular Distributed I/O System by National Instrument), which had to be a pre-developed system that did not require customization. The designed virtual instrument was tested on a simulation model that mimed the target station. The result was a valid design.
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Smith, David J. "An Advanced Controller for a Semi-Active Wheelchair Suspension." DigitalCommons@CalPoly, 2011. https://digitalcommons.calpoly.edu/theses/451.
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An Advanced Controller for a Semi-Active Wheelchair Suspension was designed, built and tested. The suspension consisted of a Goodyear 1S3-011 air spring, IQ Valves high speed proportional solenoid valve, and a custom made accumulator. Several controller designs specific to semi-active suspensions were designed and tested. The controllers investigated were skyhook, acceleration driven damping, and a combined control law employing both a dual and single sensor version. The implementation of skyhook control suffered performance degradation from the idealization due to particular elements of hardware, however acceleration driven damping showed a marked and statistically significant improvement over skyhook control, in hardware, by 14%. The combined control laws exhibited as yet unexplained transient behavior that produced results with low confidence in their veracity. All controllers proposed performed better than a conventional oil damper and spring type suspension.
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Al-Battal, Nader. "Flow control for loads control." Thesis, University of Bath, 2019. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.767607.
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During gust encounters and turbulence aircraft are subject to extreme loads that dictate the structural requirements. Amelioration of these loads would allow reduced structural weight and therefore greater efficiency. Flow control is used for controlling the extreme loads at the fluid-structure interface. Two versions of the jet flap, normal and upstream blowing from the upper surface are studied under steady state conditions to illustrate the effectiveness of these devices at mitigating lift loads. The upstream blowing jet flap is further investigated through periodic and transient activation to demonstrate the feasibility for controlling transient gust encounters. These measurements include force, pressure and Particle Image Velocimetry measurements at a Reynolds number of 660,000 for a NACA 0012 airfoil.
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Ferreira, Castellane Silva. "Sistema de gerenciamento automático de reatores eletrônicos com ajuste do nível de luminosidade para múltiplas lâmpadas fluorescentes /." Ilha Solteira : [s.n.], 2008. http://hdl.handle.net/11449/87118.
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Resumo: Este trabalho trata do desenvolvimento e implementação de um sistema de iluminação fluorescente com gerenciamento automático baseado em reatores eletrônicos aplicados a múltiplas lâmpadas fluorescentes. O foco desta pesquisa é direcionado ao desenvolvimento de uma plataforma automática de gerenciamento e supervisão, propiciando o controle de luminosidade, acionamento remoto e também acionamentos programáveis de acordo com o expediente de trabalho do local e condições de iluminação natural do ambiente, além de prover aumento de vida útil das lâmpadas fluorescentes, em função de protocolo proposto para préaquecimento e ignição. Foram acoplados ao sistema sensores de luminosidade e de presença, permitindo a obtenção dos dados necessários para a atuação automática. O controle por calha das lâmpadas fluorescentes é feito por um microcontrolador AtMega8 da ATMEL, o qual é responsável pela automação do sistema. A plataforma de gerenciamento e monitoração utiliza um microcomputador para que seja executado o aplicativo desenvolvido, o qual provê uma interface amigável ao usuário. Assim, um protocolo de comunicação foi desenvolvido para que haja uma comunicação de dados confiável, oferecendo robustez e alta confiabilidade ao controle do sistema de iluminação. Para o processamento dos dados, foi utilizado o barramento serial de comunicação full duplex com padrão RS232 e RS485 com transmissão assíncrona. Adicionalmente, o sistema funciona no sistema mestre-escravo, sendo o microcomputador responsável por enviar endereçamentos e ordens de ação aos microcontroladores, os quais identificam os endereçamentos e dados, executam a ação programada e envia dado de monitoramento ao microcomputador, quando requisitado pelo usuário.Abstract: In this work, the development and implementation of an illumination fluorescent system with automatic management based on electronic ballast applied to multiple fluorescent lamps are presented. This research is directed in the development of the management and supervision of an automatic platform, allowing the control of luminosity, the remote actuation and also the programmable actuation according with the local business work and conditions of natural light of the environment. In addition, the ballast will provide the increase in the average lifetime for fluorescent lamps, considering a proposed protocol to pre-heating and ignition. The automatic actuation of the system is allowed by the coupling, of the luminosity and presence sensors. The control of fluorescent lamps by channel is executed by an ATMEL's AtMega8 microcontroller, which is responsible for the system automation. The management and monitoring platform uses a microcomputer with purpose to execute the implemented application, which will provide a friendly interface to the user. Thus, a protocol of communication was developed to allow a reliable communication of data, providing robustness and high reliability to the control of lighting system. Considering the processing of data acquired, was used a Serial Bus of communication with full duplex standard RS232 and RS485, with asynchronous transmission. Additionally, the system works in the master-slave mode, and the microcomputer is responsible for sending addresses and orders of action to microcontrollers, which identify and address data, in order to perform the programmed action to it, and in order to send data to the microcomputer, when requested by the user.
Orientador: Carlos Alberto Canesin
Coorientador: Fábio Toshiaki Wakabayashi
Banca: Falcondes Jose Mendes de Seixas
Banca: Ricardo Nederson do Prado
Mestre
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Trindade, Anderson Laécio Galindo. "Contribuições para o controle on-line de processos por atributos." Universidade de São Paulo, 2008. http://www.teses.usp.br/teses/disponiveis/3/3136/tde-02062008-132508/.
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O procedimento de controle on-line de processos por atributos, proposto por Taguchi et al. (1989), consiste em amostrar um item a cada m produzidos e decidir, a cada inspeção, se houve ou não aumento na fração de itens não-conformes produzidos. Caso o item inspecionado seja não-conforme, pára-se o processo para ajuste supondo-se que tenha ocorrido uma mudança para a condição fora de controle. Como i) o sistema de inspeção pode estar sujeito a erros de classificação e o item inspecionado ser submetido à classificações repetidas; ii) a fração de itens não-conformes no estado fora de controle pode variar em função do número de itens produzidos (x) segundo uma função y (x); iii) e a decisão de parar o processo pode ser tomada com base no resultado das últimas h inspeções, desenvolve-se um modelo que engloba estes pontos. Utilizando-se as propriedades de uma cadeia de Markov ergódica, obtém-se a expressão do custo médio do sistema de controle, que é minimizada por parâmetros que vão além do intervalo de inspeção m: o número de classificações repetidas r; o número mínimo de classificações conformes para declarar um item como conforme s, o comprimento do histórico de inspeções considerado h e o critério de parada para ajuste u. Os resultados obtidos mostram que: o uso de classificações repetidas pode ser uma alternativa econômica quando apenas um item é considerado na decisão sobre o ajuste do processo; uma cadeia da Markov finita pode ser utilizada para representar o sistema de controle na presença de uma função y (x) não-constante; tomar a decisão de ajuste com base na observação de uma seqüência de itens inspecionados é a alternativa de maior impacto sobre o custo de controle do processo.The quality control procedure for attributes, proposed by Taguchi et al. (1989), consists in inspecting a single item at every m produced items and, based on the result of each inspection, deciding weather the non-conforming fraction has increased or not. If an inspected item is declared non-conforming, the process is stopped and adjusted, assuming that it has changed to out-of-control condition. Once: i) the inspection system is subject to misclassification and it is possible to carry out repetitive classifications in the inspected item; ii) the non-conforming fraction, when the process is out-of-control, can be described by y(x); iii) the decision about stopping the process can be based on last h inspections, a model which considers those points is developed. Using properties of ergodic Markov chains, the average cost expression is calculated and can be minimized by parameters beyond m: number of repetitive classifications (r); minimum number of classifications as conforming to declare an item as conforming (s); number of inspections taken into account (h) and stopping criteria (u). The results obtained show that: repetitive classifications of the inspected item can be a viable option if only one item is used to decide about the process condition; a finite Markov chain can be used to represent the control procedure in presence of a function y(x); deciding about the process condition based on last h inspections has a significant impact on the average cost.
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Martins, Daniel J?nior. "Aspectos biol?gicos do parasitoide Palmistichus elaeisis (Hymenoptera: Eulophidae) em diferentes hospedeiros." UFVJM, 2016. http://acervo.ufvjm.edu.br/jspui/handle/1/1434.
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?rea de concentra??o: Silvicultura e manejo florestal.Submitted by Jos? Henrique Henrique (jose.neves@ufvjm.edu.br) on 2017-08-09T23:04:22Z No. of bitstreams: 2 daniel_junior_martins.pdf: 1407857 bytes, checksum: 35837ffe0a3033cb340c421e657b405d (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5)
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Funda??o de Amparo ? Pesquisa do estado de Minas Gerais (FAPEMIG)
A incid?ncia de lepid?pteros desfolhadores ? um dos fatores ambientais que podem regular a produtividade dos maci?os florestais. O parasitoide Palmistichus elaeisis Delvare & LaSalle (Hymenoptera: Eulophidae) se destaca pela efici?ncia no parasitismo de pupas desses lepid?pteros e auxiliam na manuten??o do equil?brio biol?gico. Esses podem ser criado em diferentes hospedeiros alternativos. Com isso, uma pesquisa foi conduzida no laborat?rio de Controle Biol?gico de Insetos do Departamento de Engenharia Florestal da Universidade Federal dos Vales do Jequitinhonha e Mucuri (UFVJM) em Diamantina, Minas Gerais. Objetivou-se neste trabalho, avaliar a efici?ncia de diferentes hospedeiros para a cria??o de Palmistichus elaeisis e estudar desempenho deste parasitoide em pupas de Tenebrio molitor criado em diferentes dietas. O delineamento experimental foi inteiramente casualizado (DIC), em sala climatizada temperatura variando ente 23 e 27?C, umidade relativa entre 60 e 80% e fotoper?odo de 12 horas. O primeiro estudo ensaio constituiu-se seis tratamentos e nove repeti??es. Pupas de Tenebrio molitor, Alphitobius diaperinus, Thyrinteina arnobia, Spodoptera frugiperda, Helicoverpa zea e Diatraea saccharalis foram individualizadas em potes pl?sticos e expostas ao parasitismo por seis f?meas durante 72h. Foi observado a porcentagem de parasitismo e emerg?ncia, n?mero de indiv?duos emergidos, raz?o sexual, longevidade e morfometria de P. elaeisis. Os dados foram submetidos a ANOVA e quando significativos as m?dias foram comparadas pelo teste de Tukey (p?0,05), ou teste kruskal Wallis (p?0,05) quando n?o-param?trico. A porcentagem de parasitismo variou de 88,8 a 100%. O n?mero da prole e tamanho do parasitoide foi influenciado pela biomassa do hospedeiro. A raz?o sexual variou de 0,76?0,04 a 0,94?0,01, e os maiores ciclos de desenvolvimento do parasitoide produziram prole mais longeva. Pupas de A. diaperinus n?o permitiram um bom desempenho de P. elaeisis na densidade testada. O segundo ensaio constituiu-se seis tratamentos e 10 repeti??es. Pupas de T. molitor geradas em seis dietas (farelo de trigo, fub? de milho, ra??o peletizada para coelhos, ra??o para aves poedeiras: farelada, peletizada e triturada) foram individualizadas em potes pl?sticos e expostas ao parasitismo por seis f?meas de P. elaeisis durante 72h. Foram observados os mesmos par?metros do primeiro estudo para o parasitoide. Al?m disso, foi realizada uma an?lise bromatol?gica das pupas de T. molitor e das dietas. A porcentagem de parasitismo e emerg?ncia foi de 100% em todos os tratamentos. N?o houve diferen?a no ciclo de vida, n?mero da prole e longevidade do parasitoide. Pupas alimentadas com fub? de milho geraram prole com menor raz?o sexual e menor comprimento da t?bia. A dieta a base de fub? de milho n?o foi adequada para o desenvolvimento de P. elaeisis.
Disserta??o (Mestrado) ? Programa de P?s-Gradua??o em Ci?ncia Florestal, Universidade Federal dos Vales do Jequitinhonha e Mucuri, 2016.
The incidence of defoliating lepidoptera is one of the factors that can regulate the production of forest stands. The parasitoid Palmistichus elaeisis Delvare & LaSalle (Hymenoptera: Eulophidae) stands out for the efficiency in the parasitism of pupae of these lepidoptera and helps in maintaining the biological balance. These can be created in different alternative hosts. With this, a research was developed in the laboratory of Biological Control of Insects of the Department of Forestry Department of the Federal University of the Jequitinhonha and Mucuri Valleys in Diamantina, Minas Gerais. The objective of this work was to evaluate the efficiency of different hosts for the creation of Palmistichus elaeisis and to study the performance of this parasitoid in pupae of Tenebrio molitor grown on different diets. The experimental design was completely randomized (CRD), in a heated room with temperature ranging from 23and 27?C, relative humidity between 60 and 80 % and photoperiod of 12 hours. The first assay consisted if six treatments and nine replications. Pupae of Tenebrio molitor, Alphitobius diaperinus Thyrinteina arnobia, Spodoptera frugiperda, Helicoverpa zea e Diatraea saccharalis they were individually placed in plastic pots and exposed to parasitism by six females during 72h. It was observed percentage of parasitism and emergence, number of emerged individuals, sexual ratio, longevity and morphometry P. elaeisis. Data were analyzed by ANOVA and when significant means were compared by Tukey test (p?0,05) or Kruskal Wallis test (p?0,05) when nonparametric. The percentage of parasitism ranged from 88,8 to 100 %. The number of offspring and parasitoid size was influenced by the biomass of the host, the sex ratio varied from 0,76?0,04 a 0,94?0,01, and the more parasitoid development cycles produced more offspring longeva. Pupae of A. diaperinus did not allow a good performance P. elaeisis tested in density. The second assay consisted if six treatments and 10 repetitions. Pupae of T. molitor generated in six different diets (wheat bran, cornmeal, pelleted feed for rabbits, for laying birds: farewell pelleted and crushed) they were individually placed in plastic pots and exposed to parasitism by six females during 72h. Were observed the same parameters of the first study for parasitoid furthermore, we carried out a bromatological analysis of T. molitor pupae and diets. The percentage of parasitism and emergency was 100 % in both treatments there was no difference the life cycle of the offspring number and longevity of the parasitoid. Pupae formed with corn meal generated offspring less sex reason and shorter length of the tibia. A diet based on corn meal was not suitable for development P. elaeisis.
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Larsson, Martin. "Active Noise Control in Ventilation Systems : Practical Implementation Aspects." Licentiate thesis, Karlskrona : Department of Signal Processing, School of Engineering, Blekinge Institute of Technology, 2008. http://www.bth.se/fou/Forskinfo.nsf/Sok/a4d08437e2b436f5c12575120052135d/$file/LarssonM_lic.pdf.
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El-Sedawi, I. R. M. "Hierarchical control for electric power systems." Thesis, City University London, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.379642.
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Bevacqua, Timothy R. "Advanced Flight Control Issues for Reusable Launch Vehicles." Ohio University / OhioLINK, 2004. http://www.ohiolink.edu/etd/view.cgi?ohiou1097601560.
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Gurusubramanian, Sabarish. "A comprehensive process for Automotive Model-Based Control." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1374078953.
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Liu, Chunyan. "Sample Size Analysis and Issues About No-Perfect Matched-Controls for Matched Case-Control Study." University of Cincinnati / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1155578591.
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Heinen, Garrett David. "Modeling and Charging Control of a Lithium Ion Battery System for Solar Panels." DigitalCommons@CalPoly, 2017. https://digitalcommons.calpoly.edu/theses/1745.
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The advancement in solar panel and battery technology makes them useful for energy supply and storage. This thesis involves the modeling and charging control of a lithium ion battery system for solar panels. The proposed model is based on the parameters and characteristics of a realistic battery and solar panel system; and the hybrid control approach combines the advantages of the adaptive incremental conductance method and the perturb and observe method to track the maximum power point of the solar panel for charging the battery unit. Computer simulation results demonstrate that this proposed approach offers a faster convergence rate than the adaptive incremental conductance method, and less steady-state error than the perturb and observe method.
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Åkesson, Henrik. "Active control of vibration and analysis of dynamic properties concerning machine tools /." Karlskrona : Department of Signal Processing, School of Engineering, Blekinge Institute of Technology, 2007. http://www.bth.se/fou/Forskinfo.nsf/allfirst2/c1c8b0fe1d34f181c12572b3003518d4?OpenDocument.
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Kissai, Moad. "Optimal Coordination of Chassis Systems for Vehicle Motion Control." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLY004/document.
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Le contrôle global du châssis a fait récemment l'objet d'une attention particulière. Cela serait motivé surtout par l’approche des véhicules entièrement autonomes. Ces véhicules, en particulier le niveau 5 d’automatisation SAE (J3016), devraient remplacer le conducteur humain dans presque toutes les situations. Le véhicule automatisé devrait être capable de gérer en harmonie des situations couplées où sont intégrés le contrôle longitudinal, latéral et éventuellement vertical. Pour ce faire, le véhicule dispose de plusieurs systèmes intégrés par axe de contrôle. En effet, les équipementiers automobiles et les nouveaux acteurs de l'industrie automobile proposent continuellement de nouvelles solutions pour satisfaire des performances bien spécifiques. Le constructeur automobile doit quant à lui coordonner différents sous-systèmes provenant de différentes parties prenantes afin de garantir une expérience de conduite fiable et confortable. Jusqu'à présent, les constructeurs automobiles privilégiaient des solutions simples consistant à ajouter une couche de coordination en aval des sous-systèmes concurrents afin de limiter les potentiels conflits. La plupart des stratégies adoptées consistent à prioriser un système par rapport à un autre en fonction de certains scénarios conflictuels prévisibles. Les véhicules autonomes ont besoin de sous-systèmes supplémentaires pour fonctionner en toute sécurité. Ainsi, les interactions entre les sous-systèmes s'amplifieront au point de devenir imprévisibles. Cette thèse met l'accent sur l'approche de coordination qui devrait être adoptée par les véhicules du futur. En particulier, la couche de coordination est déplacée en amont des sous-systèmes autonomes pour assurer une distribution de commande optimale. Cette couche agit comme un superviseur basé sur des algorithmes d'allocation optimale du contrôle. La synthèse des correcteurs repose sur les théories du contrôle robuste permettant de faire face aux changements environnementaux et aux incertitudes paramétriques et dynamiques du véhicule. Les résultats ont d’abord montré que même en ce qui concerne les véhicules actuels, l’approche en amont peut offrir des avantages supplémentaires pour ce qui est de la résolution de problèmes à objectifs multiples. En outre, l’approche en amont permet de coordonner les sous-systèmes des véhicules présentant une sur-actionnement plus élevé. La tolérance aux pannes peut être assurée entre des systèmes de châssis complètement différents, et des objectifs qualitatifs, s'ils sont rigoureusement formalisés, peuvent être satisfaits. Plus les sous-systèmes seront nombreux à l'avenir, plus l'approche en amont deviendrait pertinente pour le contrôle du mouvement des véhicules. Nous espérons que les avantages conséquents présentés dans cette thèse grâce à une approche de coordination en amont optimale encourageraient les constructeurs automobiles et leurs équipementiers à opter pour des solutions plus ouvertes, à proposer ensemble les normalisations nécessaires et accélérer ainsi le développement des véhicules autonomesA large interest has been given recently to global chassis control. One of the main reasons for this would be the approach of fully autonomous vehicles. These vehicles, especially the SAE (J3016) level 5 of automation, are expected to replace the human driver in all situations. The automated vehicle should be able to manage coupled situations in harmony where longitudinal control, lateral control, and eventually vertical control are involved. To do so, the vehicle has more than one embedded system per control axis. Equipment suppliers and new entering automotive actors are continually proposing new solutions to satisfy a specific performance required from future passenger cars. Consequently, the car manufacturer has to coordinate different subsystems coming from different stakeholders to ensure a safe and comfortable driving experience. Until these days, car manufactures favoured simple solutions consisting on adding a coordination layer downstream the competing subsystems in order to mitigate eventual conflicts. Most of strategies adopted consist on prioritizing one system over another depending on predictable conflicting scenarios. Autonomous vehicles need additional subsystems to operate safely. Interactions between these subsystems will increase to the point of becoming unpredictable. This thesis focus on the coordination approach that should be adopted by future vehicles. Particularly, the coordination layer is moved upstream the standalone subsystems to ensure an optimal control distribution. This layer acts as a supervisor depending on optimization-based control allocation algorithms. The control synthesis is based on robust control theories to face environmental changes and the vehicle’s parameters and dynamics uncertainties. Results showed first that even regarding today’s vehicles, the upstream approach can offer additional advantages when it comes to multiple objectives problems solving. In addition, the upstream approach is able to coordinate subsystems of vehicles with a higher over-actuation. Fault-tolerance can be ensured between completely different chassis systems, and qualitative objectives, if rigorously formalized, can be satisfied. The more numerous subsystems will get in the future, the more relevant the upstream approach would become to vehicle motion control. We expect that the important benefits shown in this thesis thanks to an optimal upstream coordination approach would encourage car manufacturers and equipment to switch towards more open solutions, propose together the necessary standardizations, and accelerate the autonomous vehicles development
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Souza, Rafael Sanchez. "Design and prototyping of a development platform for exoskeleton research." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-26022018-141504/.
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Human machine interface has been a growing field of scientific research for the last years. Conventional robots have been conceived as rigid metallic structures and, when metal meets human tissue, it is necessary to break the mindset in order to achieve better interaction. Exoskeletons, often called wearable robots, shares the same challenges with applications ranging from industry, to military, medicine and entertainment. This work introduces a systematic design of a development platform for exoskeleton research supported by Requirement Engineering and implemented through prototyping. The dynamics of the human joint and the robotic joint are modelled with different couplings between them. A Model Reference Adaptive Control is proposed as a solution for exoskeleton control and simulations indicate that it is capable of estimating human joint parameters in real time. The Model Reference controller is implemented, with successful modulation of the robotic joint apparent impedance. From a practical perspective, we present the design and construction of an experimental workbench and the use of an on-line repository for the control software development. The on-line repository results in a viable way for collaborative project management, software versioning and scientific contribution. The experimental workbench which was designed to meet the stakeholders needs - the university, patients and therapists - being of modular application, easy to operate and relatively low cost, can be used to conduct motor control experiments and rehabilitation tasks.Interface homem e máquina tem sido um campo crescente de pesquisa científica nos últimos anos. Robôs convencionais têm sido concebidos como estruturas metálicas rígidas que, quando em contato com o tecido humano, faz necessário romper com o modo de pensar corrente para atingir uma melhor interação. Exoesqueletos, chamados também de robôs vestíveis, compartilham destes desafios e abrangem aplicação na indústria, militar, medicina e entretenimento. Este trabalho introduz uma abordagem sistemática, baseada em Engenharia de Requisitos e Prototipagem, para projeto de uma plataforma de desenvolvimento para pesquisa em exoesqueletos. A dinâmica da junta humana e da junta robótica são modeladas para diferentes acoplamentos entre si. O Controle Adaptativo por Modelo de Referência é proposto como uma solução para controle de exoesqueletos; simulações indicam ser capaz de estimar os parâmetros da junta humana em tempo real. O controlador por Modelo de Referência foi implementado, tendo sucesso na modulação da impedância aparente da junta robótica. De uma perspectiva mais prática, é apresentado o projeto e construção de uma bancada experimental e o uso de um repositório online para desenvolvimento do software de controle. O repositório on-line viabiliza gestão de projetos colaborativos, focado em versionamento de software e contribuição científica. A bancada experimental foi projetada para atender as necessidades de diferentes stakeholders - a universidade, os pacientes e terapeutas - sendo de aplicação modular, de fácil operação e relativo baixo custo, é capaz de conduzir experimentos de controle motor e tarefas de reabilitação.
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Genari, Helói Francico Gentil. "Damage-Tolerant Modal Control Methods for Flexible Structures." Thesis, Paris, ENSAM, 2016. http://www.theses.fr/2016ENAM0032/document.
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Les structures intelligentes sont de plus en plus présentes dans différentes industries et notamment dans les domaines de l'aéronautique et du génie civil. Ces structures sont dotées de fonctions qui leur permettent d'interagir avec leur environnement, d'adapter leurs caractéristiques structurelles (raideur, amortissement, viscosité, etc.) selon les besoins ou de surveiller leur état de santé ou « SHM » (Structural Health Monitoring). Aujourd’hui, les performances des méthodes de contrôle actif peuvent être considérablement dégradées lors de l’apparition d’endommagement. Le contrôle actif tolérant aux dommages ou « DTAC » (Damage Tolerant Active Control) est un champ de recherche récent qui s'intéresse à l'élaboration d'approches intégrées pour réduire les vibrations tout en surveillant l'intégrité de la structure, en identifiant les éventuels dommages, et en reconfigurant la loi de commande.Cette thèse apporte une contribution au DTAC en proposant une approche originale basée sur la norme H∞ modale . Les méthodes proposées se focalisent principalement sur le cas où plusieurs actionneurs et capteurs piézoélectriques non-collocalisés sont utilisés pour atténuer les vibrations des structures endommagées. Le manuscrit comprend quatre parties principales. Le chapitre 2 présente des rappels sur la commande H∞ et sur sa solution sous optimale obtenue par une approche par inégalité matricielle ou « LMI » (Linear Matrix Inequality), sur lesquels s’appuient les développements proposés dans ce travail. Le chapitre 3 décrit la norme H∞ modale introduite pour le contrôle actif des vibrations. Cette commande présente une sélectivité modale élevée, permettant ainsi de se concentrer sur les effets du dommage tout en bénéficiant des propriétés de robustesse qu'offre la commande H∞ vis-à-vis du spillover et des variations de paramètres. Une nouvelle stratégie de rejet des vibrations est proposée au chapitre 4. C'est une approche dite préventive où une prise en compte lors de l'élaboration de la commande H∞ modale, des zones fortement contraintes de la structure, où le risque d’endommagement est élevé est réalisée. Un algorithme SHM est proposé afin d'évaluer la sévérité du dommage pour chaque mode. Le chapitre 5 propose une nouvelle approche modale à double boucle de commande pour faire face à des endommagements imprévisibles. Un premier correcteur est conçu dans ce but pour satisfaire les contraintes de performance et de robustesse sur la structure saine, tandis que le second a pour objectif de conserver un contrôle satisfaisant quand un dommage survient. La loi de commande s'appuie sur un observateur d’état et d'un algorithme SHM pour reconfigurer en ligne le correcteur. Toutes les approches DTAC proposées sont testées en utilisant des simulations (analytiques et éléments finis) et/ou des expérimentations sur des structures intelligentesSmart structures have increasingly become present in different industry applications and particularly in the fields of aeronautics and civil engineering. These structures have features that allow interactions with the environment, adapting their characteristics according to the needs (stiffness, damping, viscosity, etc.), monitoring their health or controlling their vibrations. Today smart structure active control methods do not respond appropriately to damage, despite the capacity of external disturbances good rejection. Damage-tolerant active control (DTAC) is a recent research area that aims to develop integrated approaches to reduce the vibrations while monitoring the integrity of the structure, identifying damage occurrence and reconfiguring the control law of the adopted active vibration control method.This thesis contributes to DTAC area, proposing a novel modal control framework and some applying strategies. Developed methods focus in non-collocated flexible structures, where multiples piezoelectric sensors and actuators are used to attenuate damaged structure vibration. The chapters present four main topics and the conclusions. Chapter 2 reviews the regular suboptimal H∞ problem and its respective solution based on the linear matrix inequality (LMI) approach, which is a fundamental tool for the development of subsequent topics. Chapter 3 introduces the modal H∞-norm based method for vibration control, which reveals high modal selectivity, allowing control energy concentration on damage effects and presenting robustness to spillover and parameter variation. A new control strategy is developed in Chapter 4, taking into account existing knowledge about the structure stressed regions with high probability of damage occurrence, leading to specific requirements in the modal H∞ controller design. A structural health monitoring (SHM) technique assesses each damaged mode behavior, which is used to design a preventive controller. Chapter 5 presents a novel modal double-loop control methodology to deal with the unpredictability of damage, nevertheless ensuring a good compromise between robustness and performance to both healthy and damaged structures. For this purpose, the first loop modal controller is designed to comply with regular requirements for the healthy structure behavior, and the second loop controller is reconfigured aiming to ensure satisfactory performance and robustness when and if damage occurs, based on a state-tracking observer and an SHM technique to adapt the controller online. In all these chapters, simulated (analytical and finite elements based) and/or experimental aluminum structures are used to examine the proposed methodology under the respective control strategies. The last chapter subsumes the achieved results for each different approach described in the previous chapters
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Birch, S. W. "Novel sensors for alcohol fermentation monitoring and control." Thesis, Cranfield University, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.233437.
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Niel, Fabien. "Modélisation et contrôle d'une aile en présence d'oscillations aéroélastiques de grande amplitude et à faible nombre de Reynolds." Thesis, Toulouse, ISAE, 2018. http://www.theses.fr/2018ESAE0003/document.
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L’objectif de cette thèse est de fournir une approche générale permettant d’aborder les problèmes de contrôle aéroélastique.Tout d’abord, un modèle d’aile oscillante est développé afin de rendre compte des phénomènes d’hystérésis des charges aérodynamiques et de décrochage dynamique qui peut être observé, particulièrement à fort angles d’attaque ou à faible nombre de Reynolds. Le modèle est alors entraîné et comparé avec succès aux résultats expérimentaux obtenus pour une aile NACA 0018. Ce modèle, comme de nombreux modèles aérodynamiques, souffre d’une complexité inhérente et de non-linéarités qui rendent son analyse et son contrôle complexes. Par conséquent, le modèle a été modifié afin d’inclure les non-linéarités dans une formulation polytopique aux paramètres incertains. S’appuyant sur la théorie de la commande linéaire quadratique et utilisant les inégalités des matrices linéaires, plusieurs théorèmes sont développés, considérant les saturations qui sont un problème majeur et récurent de la dynamique du vol. Les théorèmes sont alors appliqués avec succès au cas du stall flutter en présence de saturations en position et en vitesseThis thesis aims at providing a general approach for aeroelastic control. First, an aeroelastic model of an oscillating wing is developed to capture the phenomena of hysteresis of aerodynamic load and dynamic stall which can be observed at low Reynolds number or large angles of attack. The model is then trained and successfully compared to experimental data for a NACA 0018 wing. This model, like many aeroelastic models, suffers from its inherent complexity and nonlinearities which make its analysis and control challenging. Consequently, the set of equations is conveniently manipulated to encapsulate the nonlinearities in a polytopic formulation with unknown parameters. Then, based on linear quadratic regulation theory and using framework of linear matrix inequalities, several theorems are developed considering saturations which are a major and recurrent issue in flight control. The theorems are then successfully applied to solve the problem of stall flutter in presence of rate and magnitude saturations
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Fairman, Benedict Evelyn. "Slurry atomisation system for process control." Thesis, University of Plymouth, 1990. http://hdl.handle.net/10026.1/1697.
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Spencer, Barry Neal. "LOCUS OF CONTROL ORIENTATION OF JUVENILE DELINQUENTS." Thesis, The University of Arizona, 1985. http://hdl.handle.net/10150/275433.
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Su, Hua S. M. Massachusetts Institute of Technology. "Robust fluid control of multiclass queueing networks." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/39212.
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Thesis (S.M.)--Massachusetts Institute of Technology, Computation for Design and Optimization Program, 2006.Includes bibliographical references (p. 89-92).
This thesis applies recent advances in the field of robust optimization to the optimal control of multiclass queueing networks. We develop models that take into account the uncertainty of interarrival and service time in multiclass queueing network problems without assuming a specific probability distribution, while remaining highly tractable and providing insight into the corresponding optimal control policy. Our approach also allows us to adjust the level of robustness of the solution to trade off performance and protection against uncertainty. We apply robust optimization to both open and closed queueing networks. For open queueing networks, we study control problems that involve sequencing, routing and input control decision, and optimize the total holding cost. For closed queueing networks, we focus on the sequencing problem and optimize the throughput. We compare the robust solutions to those derived by fluid control, dynamic programming and stochastic input control. We show that the robust control policy leads to better performance. Robust optimization emerges as a promising methodology to address a wide range of multiclass queueing networks subject to uncertainty, as it leads to representations of randomness that make few assumptions on the underlying probabilities. It also remains numerically tractable, and provides theoretical insights into the structure of the optimal control policy.
by Hua Su.
S.M.
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Silva, Renan Venancio da. "Potential use of edaphic predatory mites for the control of hematophagous mites (Acari)." Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/11/11146/tde-15042016-181233/.
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A major concern in animal production is the occurrence of hematophagous organisms, as ticks and poultry mites. The control of these organisms is usually done with chemicals. However, this technique is being discouraged in several countries. An alternative measure is biological control. It is known that most mites of the cohort Gamasina (order Mesostigmata) are predators and their diversity and prevalence in places where ticks and poultry mites cause problems are poorly understood. One of the first recommended steps in a biological control program is to determine the fauna where the pest organisms are to be controlled. The objectives of this study were to determine the Gamasina co-occurring with Ixodes ricinus (L.) in pastures in Norway and prospect possible edaphic predatory mites of that group in Brazil to control ticks and poultry mites. In this study, 2,900 Gamasina of 12 families were collected in Norway, co-occurring with I. ricinus. The most abundant families were Parasitidae (46.9%) and Veigaiidae (25.9%), while the most diverse were Laelapidae, Macrochelidae, Parasitidae and Zerconidae, each with five species. Among these mites, a new laelapid species of Cosmolaelaps was found and is here described. In Brazil, 551 gamasines assigned to 11 families were collected and tested for their potential to feed on larvae and eggs of two tick species, Amblyomma sculptum Berlese and Rhipicephalus microplus (Canestrini), and all stages of the red poultry mite, Dermanyssus gallinae (De Geer). The most abundant families were Ologamasidae (25.4%) and Parasitidae (21.1%), while the most diverse (in terms of genera) were Ologamasidae and Laelapidae, with five and four genera, respectively. Of the evaluated predators, only Stratiolaelaps scimitus (Womersley) fed on the larvae of both tick species and all stages of D. gallinae.Uma das principais preocupações ao longo do processo de produção animal é a ocorrência de organismos hematófagos, como carrapatos e piolhinhos. O controle destes organismos usualmente é feito com produtos químicos. Porém, esta técnica de controle vem sendo desencorajada em diversos países. Uma forma alternativa é o controle biológico. Sabe-se que a maioria dos ácaros do grupo Gamasina (ordem Mesostigmata) são de hábito predador, porém sua diversidade e prevalência nos locais em que carrapatos e piolhinhos causam problemas são pouco conhecidas. Um dos primeiros passos recomendados num programa de controle biológico é a determinação da fauna no local onde deseja-se o controle dos organismos praga. Os objetivos deste estudo foram a determinação dos Gamasina que co-ocorrem com Ixodes ricninus (L.) em pastagens na Noruega e a busca por possíveis ácaros predadores edáficos daquele grupo no Brasil, para controle de carrapatos e piolhinhos. No presente estudo, 2900 Gamasina afiliados à 12 famílias foram coletados na Noruega, co-ocorrendo com I. ricinus. As famílias mais numerosas foram Parasitidae (46,9%) e Veigaiidae (25,9%), enquanto que as mais diversas foram Laelapidae, Macrochelidae, Parasitidae e Zerconidae, cada uma com cinco espécies. Dentre estes ácaros, um novo laelapídeo do gênero Cosmolaelaps é descrito da Noruega. No Brasil, foram testados 551 Gamasina afiliados a 11 famílias, incluindo Laelapidae, Macrochelidae, Parasitidae e Veigaiidae, os quais foram testados quanto ao seu potencial em alimentar-se de larvas e ovos dos carrapatos Amblyomma sculptum Berlese e Rhipicephalus microplus (Canestrini), e de todos os estágios do piolhinho-de- galinha, Dermanyssus gallinae (De Geer). As famílias mais abundantes foram Ologamasidae (25,4 %) e Parasitidae (21,1%), enquanto as mais diversas (em termos de gênero) foram Ologamasidae e Laelapidae, com cinco e quatro gêneros, respectivamente. Dos predadores avaliados, apenas Stratiolaelaps scimitus (Womersley) alimentou-se das larvas de ambas espécies de carrapatos e de todos os estágios de desenvolvimento de D. gallinae.
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Mbangeni, Litha. "Development of methods for parallel computation of the solution of the problem for optimal control." Thesis, Cape Peninsula University of Technology, 2010. http://hdl.handle.net/20.500.11838/1110.
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Thesis (MTech(Electrical Engineering))--Cape Peninsula University of Technology, 2010Optimal control of fermentation processes is necessary for better behaviour of the process in order to achieve maximum production of product and biomass. The problem for optimal control is a very complex nonlinear, dynamic problem requiring long time for calculation Application of decomposition-coordinating methods for the solution of this type of problems simplifies the solution if it is implemented in a parallel way in a cluster of computers. Parallel computing can reduce tremendously the time of calculation through process of distribution and parallelization of the computation algorithm. These processes can be achieved in different ways using the characteristics of the problem for optimal control. Problem for optimal control of a fed-batch, batch and continuous fermentation processes for production of biomass and product are formulated. The problems are based on a criterion for maximum production of biomass at the end of the fermentation process for the fed-batch process, maximum production of metabolite at the end of the fermentation for the batch fermentation process and minimum time for achieving steady state fermentor behavior for the continuous process and on unstructured mass balance biological models incorporating in the kinetic coefficients, the physiochemical variables considered as control inputs. An augmented functional of Lagrange is applied and its decomposition in time domain is used with a new coordinating vector. Parallel computing in a Matlab cluster is used to solve the above optimal control problems. The calculations and tasks allocation to the cluster workers are based on a shared memory architecture. Real-time control implementation of calculation algorithms using a cluster of computers allows quick and simpler solutions to the optimal control problems.
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Harber, John A. "A dual hoist robot crane for large area sensing." Thesis, Georgia Institute of Technology, 2016. http://hdl.handle.net/1853/55035.
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Cranes are used to lift and move large objects in a wide variety of applications at constructions sites, shipping ports, and manufacturing facilities, etc. If the load to be moved is too long or heavy for a single crane, then two, or more, cranes must work in cooperation to move the payload. In a factory setting this can be accomplished using two trolleys running along the same bridge forming a dual hoist crane. Using two hoists not only increases lifting capacity, it also improves stability of the payload over traditional single hoist configurations. This research takes advantage of that increased stability and explores a novel application for dual hoist cranes: suspending a robot arm from the two trolleys. This increases the workspace of the robot to the entirety of the space covered by the crane, opening up numerous applications not possible with a stationary robot. In order to better understand and characterize the dynamics of the system, a numerical model was developed and tested against a physical system to confirm its validity. A vision system has the potential to greatly increase the usefulness of a robotic system such as the one presented in previous paragraph. The Asus Xtion was used in this work due to its versatility and low cost. An evaluation of this sensor was performed. Various tests were conducted to determine its accuracy in a range of scenarios. It was found that crane oscillations degraded the quality of data returned. This is effect is especially detrimental if the crane is moved to a specified point and sensing begins immediately. The data collection process could be delayed until the residual oscillations subside, however the time penalty incurred by waiting is large because the oscillations are lightly damped and have a long period. To address this issue a control method called input shaping was introduced to reduce the residual oscillations thereby increasing the quality of the sensor data. Finally, two promising uses of the robot arm dual-hoist crane system were introduced: painting and sandblasting. The efficiency of a factory equipped with this system can be increased at relatively low cost by automating manual tasks such as these.
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Ramstedt, Linda. "Analysing the effects of governmental control policies in transport chains using micro-level simulation." Licentiate thesis, Karlskrona : Blekinge Institute of Technology, 2005. http://www.bth.se/fou/Forskinfo.nsf/allfirst2/269a87295ee23f0cc1257073004c40ed?OpenDocument.
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Zhu, Jiayi. "Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation." Thèse, Université d'Ottawa / University of Ottawa, 2012. http://hdl.handle.net/10393/20626.
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In recent years, teleoperation has shown great potentials in different fields such as
spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the
time delay induced by a potentially large physical distance prevents a good performance
of the controller, especially in case of contact.
When bilateral teleoperation is introduced to the field of medicine, a new challenge
arises: the controller needs to be used in both hard and soft environments. For example,
in the context of telesurgery, the robot can enter in contact with both bone (hard) and
organ (soft).
In an attempt to enrich existing controller designs to better suit the medical needs,
an adaptive fuzzy logic controller is designed in this text. It simulates human intelligence
and adapts the controller to environments of different stiffness coefficients. It is
compared to three other classical controllers used in the field of bilateral teleopeartion
and demonstrates very interesting potential.
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Zhao, Shiyu. "Nonparametric robust control methods for powertrain control." Thesis, University of Liverpool, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.548802.
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Zhao, Yun-Bo. "Packet-Based Control for Networked Control Systems." Thesis, University of South Wales, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.490204.
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Networked control systems (NCSs) are such control systems where the control loop is closed via some form of communication networks. These control systems are widely applicable in remote and distributed control applications. The inserted network however presents great challenges to conventional control theory as far as the design and analysis of NCSs are concerned. These challenges are caused primarily by the communication constraints in NCSs, e.g., network-induced delay, data packet dropout, data packet disorder, network access constraint, etc., which significantly degrade the system performance or even destabilize the system. When applying conventional control approaches to NCSs, considerable conservativeness is inevitable due to the failure to exploit network characteristics. Therefore, the co-design approach to NCSs in which control approaches and characteristics of NCSs are both fully considered, is believed to be the best way forward for the design of NCSs. In this thesis, we investigate the packet-based transmission of the network being used in NCSs, and propose a packet-based control (PB-control) approach to NCSs. In this approach, the 'packet' structure of data transmission in NCSs which is distinct from conventional control systems, is taken advantage of where, the control signals are first 'packed' and then sent as a sequence instead of one at a time as done in conventional control systems. \Vith the efficient use of the 'packet' structure, we can then actively compensate for the communication constraints in NCSs including the network-induced delay, data packet dropout and data packet disorder simultaneously. After determining the PB-control structure, we then extend its application to several categories of problems as follows. j • The first application is to two types of special nonlinear systems described by a Hammerstein model and a Wiener model respectively. A 'two-step' approach is adopted in this situation to separate the nonlinear process from the whole system which then enables the PB-control approach to be implemented. • It is observed that the communication constraints in NeSs are stochastic in nature, and thus a stochastic analysis of the PB-control approach is presented -----'''-'--'--~-• .:.o'... '-~.::C''c:....'..:..'..;...';';;;'~~.~'----' ......;.''''- ---'- ..-..;.;.~~ / iii under the Markov jump system framework, by modeling the network-induced delay and data packet dropout as a homogeneous ergodic Markov chain. The sufficient and necessary conditions for stochastic stability and stabilization in this situation are also obtained. • Continuous-time plant and continuous network-induced delay are observed to be more difficult to handle when implementing the PB-control approach. For this challenge, a discretization technique is introduced for the continuous network-induced delay and as a result, a novel model for NCSs is derived which is different to that obtained by conventional analysis from time delay system theory. A stabilized controller is also obtained in this situation by using delay-dependent analysis. • The last application is to deal with the situation where a set of NeSs share the network and thus the network access constraint has to be considered. For this situation, a PB-control and scheduling co-design approach is proposed where, PB-control is still applied to each subsystem while scheduling algorithms are applied to schedule the network resources among the subsystems to guarantee the stability of the whole system. We also point out in the thesis that further research on the PB-control approach is still needed as far as nonlinear, continuous-time systems and stochastic analysis are concerned.
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Liu, Xiao. "Power control of single-stage PV inverter for distribution system volt-var optimization." UKnowledge, 2013. http://uknowledge.uky.edu/ece_etds/36.
Full textAbstract:
The output power variability of intermittent renewable sources can cause significant fluctuations in distribution system voltages. A local linear controller that exploits the capability of a photovoltaic inverter to provide both real and reactive power is described. This controller substitutes reactive power for real power when fluctuations in the output of the photovoltaic source are experienced. In this way, the inverter can help mitigate distribution system voltage fluctuations. In order to provide real and reactive to the grid, a three-phase grid-connected single-stage photovoltaic system with maximum power point tracking and power control is described. A method of reducing the current harmonic caused by resonance of the LC filter and transformer is presented. The local linear controller is examined using an example distribution system, and it is found that the controller is effective at mitigating voltage violations. The photovoltaic control system is examined using three-phase single-stage PV inverter system. The power control and damping system show good performance and stability under rapid change of irradiance.
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Hassani, Heshmat. "Drive Train Control of Lithium-Battery Fed BLDC Motor : Motor Control." Thesis, Linköpings universitet, Elektroniska Kretsar och System, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-165282.
Full textAbstract:
Electrical drive systems are used in various applications and getting more attractive in recent years. When the usage of electric motors increased in different applications then the control model of them has been also demanded. This work is aimed at deeper research to gain a better understanding of three different control models for electric motors, in case of this work a brushless direct current (BLDC) motor. Three different types of control models (6-step, sinusoidal and FOC control) have been investigated and designed using MATLAB/SIMULINK. Then the control models have been implemented in an Arduino Due based BLDC motor and its functionality has been configured. The results show that the FOC control model provided to work better in the simulation while the implementation of the hardware showed that sinusoidal control works a little better and smoother. Making the implementation of the control models to the hardware work better requires more works and this has been left for future work.