Dissertations / Theses on the topic 'Platform control'
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Bouazza-Marouf, K. "Active position control of a dynamic platform." Thesis, University of Newcastle Upon Tyne, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.233425.
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Liu, Ran. "A location-guided mobile robot control platform /." View abstract or full-text, 2005. http://library.ust.hk/cgi/db/thesis.pl?COMP%202005%20LIUR.
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Domingues, Michael André Pinto. "Modelling and control platform for 3D printers." Master's thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/14859.
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Mestrado em Engenharia de Computadores e Telemática3D printers are becoming cheaper and widely used in various market segments as architecture, industrial design, automotive and aerospace engineering, providing an easy and cheaper way to produce parts and mockups. Although applications for controlling 3D printers exist, they are still poor in graphical design and difficult to use or understand due the advanced knowledge required. Most 3D printing applications allow importing and rendering a model with a 3D engine, and printing it with advanced configurations. Taking this into consideration it is intended to design and evaluate an application that presents common and advanced funcionalities through a simple, stable and easy to use user interface. An application (BEESOFT) was designed and developed taking the above objectives into consideration. It enhances the way users interact with the BEETHEFIRST printer, by providing an integrated environment where each user can, in a coordinated way, use the functionalities to quickly print. The simple user interface, the guided and self-explanatory wizards to help configure quickly the 3D printer and the robustness, error control and stability of the user interface, 3D engine and the communication protocol, distinguishes it from the other applications. This new application was evaluated using an usability testing plan and a heuristic evaluation analysis. Results confirm BEESOFT is an easy to use application that allows users with differents degrees of expertise to easily print a 3D model, but they also revealed some usability problems in the 3D canvas when modeling. The positive reaction and the results show BEESOFT simple, user spoken language and functional user interface with optimized printing profiles can be used in any sector of industry, education, etc.
As impressoras 3D estão cada vez mais baratas sendo usadas em variados nichos de mercado como na arquitectura, design industrial, engenharia automóvel e aeroespacial, fornecendo uma forma fácil e barata de produzir partes e maquetes. Embora já existam aplicações de controlo de impressoras 3D, apresentam uma interface pobre e são difíceis de usar ou perceber devido ao conhecimento necessário. A maior parte das impressoras 3D permitem importar e processar um modelo 3D e imprimir com recurso a configurações avançadas. Tendo isto em consideração pretende-se desenvolver e avaliar uma aplicação constituida por funcionalidades básicas e avançadas com uma interface de utilizador estável e simples de usar. A aplicação (BEESOFT) foi projectada e desenvolvida tendo em consideração os objectivos acima referidos. E potencia o modo como os utilizadores interagem com a impressora BEETHEFIRST, fornecendo um ambiente integrado onde cada utilizador pode, de forma orientada, usar as funcionalidades para rapidamente imprimir. A interface de utilizador simples de usar, os assistentes e auto-explicativos para ajudar a configurar rapidamente a impressora 3D, a robustez, o controlo de erros, a estabilidade da interface de utilizador, o motor 3D e o protocolo de comunicação, destacam esta aplicação de outras existentes. Esta nova aplicação foi avaliada através de um plano de testes de usabilidade e de uma análise de avaliação heurística. Os resultados confirmam que o BEESOFT é uma aplicaçao fácil de usar e que permite aos utilizadores, com variados níveis de experiência, imprimir facilmente um modelo 3D, mas também reveleram alguns problemas de usabilidade no motor 3D aquando de operações de modelação. A reacção positiva e os resultados mostraram que a interface de utilizador do BEESOFT é simples, funcional, com uma linguagem acessível e com perfis de impressão optimizados, possibilitando o seu uso em qualquer sector da indústria, educação, etc.
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Březina, Lukáš. "Optimization of a Parallel Mechanism Design with Respect to a Stewart Platform Control Design." Doctoral thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-233905.
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Předkládaná práce se zabývá návrhem modelu dynamiky paralelního manipulátoru optimálního pro účely návrhu řízení. Zvolený přístup je založen na modelování dynamiky systému v simulačním prostředí Matlab SimMechanics následovaném linearizací modelu. Výsledný stavový lineární model mimo jiné umožňuje snadné posouzení řiditelnosti a pozorovatelnosti modelu. Díky své relativní jednoduchosti je model také výpočetně nenáročný. Přístup je demonstrován na návrhu dvouvrstvého řízení SimMechanics modelu Stewartovy platformy, na kterém bylo následně navržené řízení úspěšně testováno. Podstatná část práce obsahuje přístup k modelování neurčitých parametrů dynamického modelu Stewartovy platformy a stejnosměrného motoru Maxon RE 35 a jeho výsledky. Předložený přístup je založen na modelování parametrické neurčitosti způsobem, kdy je neurčitost definována individuálně pro jednotlivé prvky stavových matic modelu. Samotná neurčitost je potom určena rozdílem mezi jednotlivými parametry příslušných matic nominálního modelu a modelu se stanovenou maximální neurčitostí parametrů. Výsledný neurčitostní model je vzhledem ke své stavové reprezentaci vhodný pro návrh regulátoru založeném na metodách návrhu robustního řízení, například minimalizaci normy H-nekonečno. Popsaná metoda byla použita pro kompenzaci posunu mezi pracovními body, okolo kterých je prováděna linearizace a pro kompenzaci nepřesnosti modelování vybraných parametrů modelů Stewartovy platformy a stejnosměrného motoru. Získané modely (v prostředí SimMechanics a neurčitostní model) byly experimentálně porovnány s chováním jednoho z lineárních pohonů Stewartovy platformy. Rozdíl v datech obdržených ze simulace v prostředí SimMechanics a naměřených na reálném stroji byl téměř kompletně pokryt neurčitostním modelem. Prezentovaná metoda neurčitostního modelování je velice univerzální a aplikovatelná na libovolný stavový model.
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Öfjäll, Kristoffer. "LEAP, A Platform for Evaluation of Control Algorithms." Thesis, Linköping University, Department of Electrical Engineering, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-56733.
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Most people are familiar with the BRIO labyrinth game and the challenge of guiding the ball through the maze. The goal of this project was to use this game to create a platform for evaluation of control algorithms. The platform was used to evaluate a few different controlling algorithms, both traditional automatic control algorithms as well as algorithms based on online incremental learning.
The game was fitted with servo actuators for tilting the maze. A camera together with computer vision algorithms were used to estimate the state of the game. The evaluated controlling algorithm had the task of calculating a proper control signal, given the estimated state of the game.
The evaluated learning systems used traditional control algorithms to provide initial training data. After initial training, the systems learned from their own actions and after a while they outperformed the controller used to provide initial training.
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Garagić, Denis. "Contouring control of Stewart platform based machine tools /." The Ohio State University, 2002. http://rave.ohiolink.edu/etdc/view?acc_num=osu1486402288261907.
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Soldado, Sérgio Torres. "FPGA urban traffic control simulation and evaluation platform." Master's thesis, Universidade de Aveiro, 2009. http://hdl.handle.net/10773/2190.
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Mestrado em Engenharia Electrónica e TelecomunicaçõesThe study and development towards Urban Traffic Management and Control (UTMC) Systems have not solely or recently gained extreme importance only due to obvious issues such as traffic safety improvement, traffic congestion control and avoidance but also due to other underlying factors such as urban transportation efficiency, urban traffic originated air pollution and future concepts as are autonomous vehicle systems, which are presently taking shape. Generally speaking urban traffic simulations occur in a software environment, which comes to hinder the progress taken towards the actual implementation of UTMC systems. The reason to why such happens is based on the fact that urban traffic controllers are usually implemented and executed on hardware platforms, therefore software based models don‟t support an actual implementation directly. In this study we explore a novel approach to urban traffic simulation, aimed to eliminate the timeframe and work-distance between the UTMC system‟s design and an eventual implementation, where a Field Programmable Gate Array (FPGA) is used to execute a simulation model of an urban traffic network. Since the resource to FPGAs implies a hardware based execution, the resulting implementation of each traffic management and control element can be considered not only as having a close matched behavior to a real world implementation but also as an actual prototype. From the simulation viewpoint the use of FPGA‟s holds the prospect of being able to hold execution speeds many times faster than software based simulations as FPGA designs are able to execute a large number of parallel processes. This study shows that an Urban Traffic Control Simulation and Test Platform is possible by implementing a relatively simple urban network model in a low end FPGA. This result implies that with further time and resource investments a rather complex system can be developed which can handle large scale and complex UTMC systems with the promise of shortening the work distance between the concept and a real world running implementation.
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Hedfors, Sara. "Architecture for Diagnostic Platform." Thesis, Uppsala University, Department of Information Technology, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-126685.
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In order to maximize operating time of an industrial machine and minimize stand-by time, service time and operating costs, a diagnostic system can be a useful tool. Diagnostic systems employ information already available in a machine’s control system (such as control signals, system state, sensor readings and so forth) to perform intelligent fault detection and localisation, and predict future faults and service needs.
CC Systems develops advanced electronics and control systems for industrial machines and vehicles operating in rough environments. One of their products is a diagnostic platform called Diagnostic Runtime Engine (DRE), supplying the customer with a tool for building a diagnostic system. The platform offers supervision of the control system. Actions are performed when it detects a possible fault or indication of a potential future fault. An action could be for example the creation of an alarm.
The DRE, as designed today, only works together with a control system running in an environment called CoDeSys. In this master thesis a new architecture of the platform is presented, with the objective to make the platform compatible with an arbitrary control system. A prototype is implemented to prove the concept of the suggested architecture model. A number of different standard diagnostic blocks, used for building the diagnostic system, are also suggested with the objective to make it easier for the user to employ the DRE. A proposition of how development with the diagnostic platform can proceed beyond this thesis is also presented.
För att maximera drifttid hos en industriell maskin och minimera driftskostnader samt standby- och service-tid, kan ett diagnostiksystem användas. Ett sådant system använder sig av information som redan finns tillgänglig i maskinens styrsystem (så som styrsignaler, tillstånd, sensorvärden och så vidare) för att utföra feldetektering och fellokalisering samt analys av möjliga framtida feltillstånd och servicebehov.
CC Systems utvecklar avancerade elektronikkomponenter och styrsystem för industriella maskiner och fordon. En av deras produkter är en diagnostikplattform, Diagnostic Runtime Engine (DRE), som erbjuder ett verktyg för att bygga upp ett diagnostiksystem. Plattformen möjliggör övervakning av styrsystemet, och detektion av ett nuvarande feltillstånd eller möjligt framtida feltillstånd leder till att en handling utförs. En handling kan till exempel vara att ett alarm skapas.
Diagnostikplattformen, som den är gjord idag, fungerar bara tillsammans med ett styrsystem som är implementerat i utvecklingsmiljön CoDeSys. I detta examensarbete presenteras en ny arkitektur på plattformen som möjliggör användande tillsammans med ett godtyckligt styrsystem. En prototyp är implementerad för att visa att den föreslagna arkitekturmodellen fungerar i praktiken. Dessutom är ett antal standard-diagnostikblock, som används då ett diagnostiksystem byggs upp, föreslagna. Standardblocken har till syfte att underlätta användandet av diagnostikplattformen. Ett förslag för hur DRE kan byggas om och utvecklas i framtiden är också presenterat.
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Gädke, Achim, Markus Rosenstihl, Christopher Schmitt, Holger Stork, and Nikolaus Nestle. "DAMARIS – a flexible and open software platform for NMR spectrometer control: DAMARIS – a flexible and open software platform for NMRspectrometer control." Diffusion fundamentals 5 (2007) 6, S. 1-9, 2007. https://ul.qucosa.de/id/qucosa%3A14270.
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Home-built NMR spectrometers with self-written control software have a long tradition in porous media research. Advantages of such spectrometers are not just lower costs but also more flexibility in developing new experiments (while commercial NMR systems are
typically optimized for standard applications such as spectroscopy, imaging or quality control applications). Increasing complexity of computer operating systems, higher expectations with respect to user-friendliness and graphical user interfaces as well as increasing complexity of the NMR experiments themselves have made spectrometer control software development a more complex
task than it used to be some years ago. Like that, it becomes more and more complicated for an individual lab to maintain and develop an infrastructure of purely homebuilt NMR systems and software. Possible ways out are:
● commercial NMR hardware with full-blown proprietary software or
● semistandardized home-built equipment and common open-source software environment for spectrometer control.
Our present activities in Darmstadt aim at providing a nucleus for the second option:
DArmstadt MAgnetic Resonance Instrument Software (DAMARIS) [1]. Based on an ordinary PC, pulse control cards and ADC cards, we have developed an NMR spectrometer control platform that comes at a price tag of about 8000 Euro.
The present functionalities of DAMARIS are mainly focused on TD-NMR: the software was successfully used in single-sided NMR [2], pulsed and static field gradient NMR diffusometry [3]. Further work with respect to multipulse/multitriggering experiments in the time domain [4] and solid state NMR spectroscopy multipulse experiments are under development.
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Levesque, Sally-Ann. "Omnidirectional robotic platform : the control of an omnidirectional robotic platform for use in robot soccer." Master's thesis, University of Cape Town, 2008. http://hdl.handle.net/11427/5518.
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Includes abstract.Includes bibliographical references.
The University of Cape Town competes in a national robot soccer competition. Teams of five small robots compete in the game of soccer without any human intervention. The robots are controlled by the artificial intelligence on a host computer connected to an overhead imaging system. The host computer controls the robots by sending them instructions via wireless communications. The robot soccer platform calls for the integration of electronic, mechanical and computer technologies and provides an exciting area for research. UCT first competed in the robot soccer competition in 2003, using differential drive robots designed by Graeme McPhillips. Research has shown that in the international robot soccer competition, teams are replacing their differential drive robots with omnidirectional robots – robots which can move in any direction without first changing their orientation to face the direction of motion. These robots have proved to be highly manoeuvrable and the winning teams in the small robot league are consistently those that use omnidirectional robots. In 2004, Craig Inman-Bamber designed and implemented UCT’s first omnidirectional robot platform. It is this platform that this dissertation is concerned with controlling. Electronic components were designed and implemented and software code written to control the robot in an omnidirectional manner.
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Brzozowski, Daniel Paul. "Dynamic control of aerodynamic forces on a moving platform using active flow control." Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/42930.
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The unsteady interaction between trailing edge aerodynamic flow control and airfoil motion in pitch and plunge is investigated in wind tunnel experiments using a two degree-of-freedom traverse which enables application of time-dependent external torque and forces by servo motors. The global aerodynamic forces and moments are regulated by controlling vorticity generation and accumulation near the trailing edge of the airfoil using hybrid synthetic jet actuators. The dynamic coupling between the actuation and the time-dependent flow field is characterized using simultaneous force and particle image velocimetry (PIV) measurements that are taken phase-locked to the commanded actuation waveform. The effect of the unsteady motion on the model-embedded flow control is assessed in both trajectory tracking and disturbance rejection maneuvers. The time-varying aerodynamic lift and pitching moment are estimated from a PIV wake survey using a reduced order model based on classical unsteady aerodynamic theory. These measurements suggest that the entire flow over the airfoil readjusts within 2-3 convective time scales, which is about two orders of magnitude shorter than the characteristic time associated with the controlled maneuver of the wind tunnel model. This illustrates that flow-control actuation can be typically effected on time scales that are commensurate with the flow's convective time scale, and that the maneuver response is primarily limited by the inertia of the platform.
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Bredenkamp, Adolf Friedrich Ludwig. "Development and control of a 3-axis stabilised platform." Thesis, Link to the online version, 2007. http://hdl.handle.net/10019/380.
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Foo, Yu Chiann. "Call admission control for high altitude platform station UMTS." Thesis, University of Surrey, 2002. http://epubs.surrey.ac.uk/689/.
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Adam, Seán P. (Seán Patrick). "A distributed control network for a mobile robotics platform." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/41376.
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Sibblies, Joshua Vincent Prescott. "Design and control of a mobile light ballet platform." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/92206.
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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.Cataloged from PDF version of thesis.
Includes bibliographical references (page 39).
Light ballet is the merging of art and technology; halogen lamps mounted on a turntable are placed inside of an opaque, perforated box. Light escapes through the perforations and creates a display of lights on surrounding surfaces. This thesis documents the process of transforming the generally stationary art display into a mobile exhibit. The light ballet modules will be placed on a mobile platform driven by three omni-directional wheels. The platform is controlled by an Android application, which communicates through Bluetooth and an Arduino Uno with the motor's controllers. The platform is designed to operate either through batteries, or through a retractable tether plugged into a power source, so the potential operating time is indefinite. This design will be replicated, to create a fleet of three light ballet robots for performance in Berlin, Germany, August 2014.
by Joshua Vincent Prescott Sibblies.
S.B.
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Mahini, Farid. "Design of Multi-Platform Control Software for Telemetry Systems." International Foundation for Telemetering, 1996. http://hdl.handle.net/10150/611441.
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International Telemetering Conference Proceedings / October 28-31, 1996 / Town and Country Hotel and Convention Center, San Diego, CaliforniaThis paper discusses the requirements and design of a multi-platform system software for control, status, calibration and testing of a telemetry system.
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Adrielsson, Anders. "Zedboard based platform for condition monitoring and control experiments." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-70105.
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New methods for monitoring the condition of roller element bearings in rotating machinery offer possibilities to reduce repair- and maintenance costs, and reduced use of environmentally harmful lubricants. One such method is sparse representation of vibration signals using matching pursuit with dictionary learning, which so far has been tested on PCs with data from controlled tests. Further testing requires a platform capable of signal processing and control in more realistic experiments. This thesis focuses on the integration of a hybrid CPU-FPGA hardware system with a 16-bit analog-to-digital converter and an oil pump, granting the possibility of collecting real-time data, executing the algorithm in closed loop and supplying lubrication to the machine under test, if need be. The aforementioned algorithm is implemented in a Zynq-7000 System-on-Chip and the analog-to-digital converter as well as the pump motor controller are integrated. This platform enables portable operation of the matching pursuit with dictionary learning in the field under a larger variety of environmental and operational conditions, conditions which might prove difficult to reproduce in a laboratory setup. The platform developed throughout this project can collect data using the analog-to-digital converter and operations can be performed on that data in both the CPU and the FPGA. A test of the system function at a sampling rate of 5 kHz is presented and the input and output are verified to function correctly.
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Azevedo, Jorge Manuel Coelho Amado de. "Xenomai Lab: a platform for digital real-time control." Master's thesis, Universidade de Aveiro, 2011. http://hdl.handle.net/10773/8582.
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Mestrado em Engenharia Electrónica e TelecomunicaçõesXenomai Lab is a free software suite that allows a user to graphically design control systems using block diagrams. The designed system can be executed in real-time with operating frequencies of up to 10KHz using the Xenomai framework. Execution can be merely a numerical simulation or an interaction with the real-world via input/output blocks. Several useful blocks are included in the default installation, such as an oscilloscope, a signal generator, MATLAB setpoint profile loader, and others. A rich set of documentation and examples is also provided. Development of Xenomai Lab was supported by a thorough study of real-time operating systems based on GNU/Linux. The performances of standard Linux, the PREEEMPT_RT patchset, RTAI and Xenomai were benchmarked using a standard test. This allowed for a direct comparison between them. Xenomai was found to have the ideal balance between performance and ease of use, with scheduling jitter bellow 35μs on a desktop computer. Ease of use was one of Xenomai Lab’s main goals. This distinguishes it from alternatives. Control algorithms are programmed in C and no prior knowledge of Xenomai, or real-time operating systems in general for that matter, is needed. This makes our system adequate for use by control engineers unfamiliar with GNU/Linux and by entry level students of control engineering, robotics, and other equally technical areas. Advanced users will feel right at home.
O Xenomai Lab é uma plataforma open-source que permite a um utilizador projectar gráficamente um sistema de controlo recorrendo a um diagrama de blocos. O sistema projectado pode ser executado em tempo-real a uma frequência de operação de até 10KHz pela framework de tempo-real Xenomai. Execução pode ser uma mera simulação numérica, ou uma interacção com o mundo real recorrendo a blocos de input e output. A instalação traz de origem vários blocos potencialmente úteis, como um osciloscópio, um gerador de sinais, interface com perfis de setpoint feitos em MATLAB, entre outros. É também incluída documentação e alguns exemplos ilustrativos. O desenvolvimento do Xenomai Lab teve por base uma pesquisa exaustiva de sistemas operativos de tempo-real baseados em GNU/Linux. As performances de Linux, do patch PREEEMPT_RT, do RTAI e do Xenomai foram medidas recorrendo a um mesmo teste. Desta forma, tornou-se possível fazer uma comparação directa entre as diferentes tecnologias. De acordo com os nossos testes, o Xenomai apresenta um balanço ideal entre performance e facilidade de utilização. O jitter de escalonamento esteve sempre abaixo de 35μs num computador de secretária. O Xenomai Lab foi desenvolvido de forma a ser fácil de utilizar. Esta é a característica chave que o distingue de software semelhante. Algoritmos de controlo são programados em linguagem C, não sendo necessário nenhum conhecimento específico de Xenomai ou mesmo de sistemas de tempo-real em geral. Assim, o Xenomai Lab é adequado para engenheiros da área de controlo sem experiência em GNU/Linux ou sistemas operativos de tempo-real ou mesmo estudantes de engenharia de controlo, robótica e outras áreas técnicas. Utilizadores avançados sentir-se-ão imediatamente em casa.
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Logan, Jeffery Jay. "Control and Sensor Development on a Four-Wheel Pyramidal Reaction Wheel Platform." DigitalCommons@CalPoly, 2008. https://digitalcommons.calpoly.edu/theses/27.
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The Pyramidal Reaction Wheel Platform, or PRWP, is used to simulate three-axis controls in a torque free space-like environment. The primary purpose of the system will be to evaluate the effects of conjoining sensors to maximize pointing accuracy. Furthermore, the system will incorporate a star tracker in conjunction with a Simulated Star Field (SSF) to better estimate the PRWP orientation. For the sake of this document, however, the goal is to implement a gyroscope, wheel rate sensors, and a make-shift accelerometer—to the PRWP—and integrate a controls algorithm such that three-axis controls are achieved for the PRWP. Three sensors were either better integrated into the system or added altogether. Tachometers were created as a form of hardware circuitry to measure each wheel rate with an accuracy of approximately 2.5 Hz (nearly 15 radians per second). The TAC board circuitry converted each motors encoder output into a speed by use of a frequency to voltage converter. Additionally, although three gyroscopes had been implemented previously, the system was better incorporated into the model such that it was directly transformed via a ROBOSTIX ADC converter before being relayed to SIMULINK via a Bluetooth link. The MEMS gyroscopes allowed for very accurate rate measurements—with a minimum resolution of approximately 0.25 radians per second. Finally, a makeshift accelerometer was incorporated into the system for the purpose of system identification. The accelerometer was incorporated into the system by utilizing a discrete time derivative of the gyroscope readings. However, thankfully a system of two accelerometers can be later utilized to achieve an accuracy of approximately 6 degrees per second-second in the x-axis and 2-3 degrees per second-second in the y- and z-axes. A controls test was performed where the starting location was qo=[0, 0, sqrt(2)/2, sqrt(2)/2] and the target location was qc=[0, 0, 0, 1]. At 80 seconds, the pointing accuracy was 70 degrees around the target and the system was unable to settle during the 80 second trial. The inaccuracy was because of the low frequency of operation of the system—1 Hz. Additionally, the platform reacts slowly to sensor readings and commands. The coupling of these issues causes the pointing accuracy to high. Furthermore, through experimental testing, the maximum wheel rate was found to be approximately 6400 RPM at a duty cycle of 50% at an 8000Hz PWM application due to the Pololu MD01B design limitations: low voltage range (up to 16V), low limit current limiter (5A), and high susceptibility to overheating for large currents.
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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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Jeram, Geoffrey James Joseph. "Open Platform for Limit Protection with Carefree Maneuver Applications." Diss., Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/4933.
Full textAbstract:
This Open Platform for Limit Protection guides the open design of maneuver limit protection systems in general, and manned, rotorcraft, aerospace applications in particular. The platform uses three stages of limit protection modules: limit cue creation, limit cue arbitration, and control system interface. A common set of limit cue modules provides commands that can include constraints, alerts, transfer functions, and friction. An arbitration module selects the best limit protection cues and distributes them to the most appropriate control path interface. This platform adopts a holistic approach to limit protection whereby it considers all potential interface points, including the pilots visual, aural, and tactile displays; and automatic command restraint shaping for autonomous limit protection.
For each functional module, this thesis guides the control system designer through the design choices and information interfaces among the modules. Limit cue module design choices include type of prediction, prediction mechanism, method of critical control calculation, and type of limit cue. Special consideration is given to the nature of the limit, particularly the level of knowledge about it, and the ramifications for limit protection design, especially with respect to intelligent control methods such as fuzzy inference systems and neural networks.
The Open Platform for Limit Protection reduces the effort required for initial limit protection design by defining a practical structure that still allows considerable design freedom. The platform reduces lifecycle effort through its open engineering systems approach of decoupled, modular design and standardized information interfaces.
Using the Open Platform for Limit Protection, a carefree maneuver system is designed that addresses: main rotor blade stall as a steady-state limit; hub moment as a transient structural limit; and pilot induced oscillation as a controllability limit. The limit cue modules in this system make use of static neural networks, adaptive neural networks, and fuzzy inference systems to predict these limits. Visual (heads up display) and tactile (force-feedback) limit cues are employed. The carefree maneuver system is demonstrated in manned simulation using a General Helicopter (GENHEL) math model of the UH-60 Black Hawk, a projected, 53 degree field of view for the pilot, and a two-axis, active sidestick for cyclic control.
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Blinn, Bart A. "Flexlab a flexible structure controls test platform." Ohio : Ohio University, 1997. http://www.ohiolink.edu/etd/view.cgi?ohiou1177609627.
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Johns, Byron Edward. "Design and Control of a New Reconfigurable Robotic Mobility Platform." Thesis, Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/14632.
Full textAbstract:
The development of a new family of robotic vehicles for use in the exploration of Mars and other remote planets is an ongoing process. Current rovers have to traverse rough terrain and be able to withstand various conditions on Mars. The goal of this project is to design a new Mars rover mobility system that performs to optimum capability. This project will involve the design and control of a robot that will use wheels, as well as legs, allowing the robot to reconfigure itself to adapt to its current environment and traverse various terrains. This new reconfigurable hybrid robotic vehicle, Byrobot (named after the student), will have a six-legged mobility design for walking. Each leg will have 3 degrees of freedom, controlled by 3 separate servos, for the movement of the legs. Byrobot will also have 4 wheels each directly attached to the shaft of a DC motor, for four-wheel differential drive. By having these two mobility systems, Byrobot will be able to operate in various environments, by capitalizing on the advantages of both legged and wheeled robots. The CAD designing for this new robot is done on Pro-Engineer, and mechanisms and animations will be run to test movement of parts. The actual robot hardware will then be constructed in the Georgia Tech MRDC machine shop. The control system for the robot will be run by the Eyebot, which uses a 25MHz 32bit Controller (Motorola 68332), as well as the SSC-32 Servo Controller from Lynxmotion. This new robotic mobility platform will facilitate future Mars exploration.
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Akgul, Emre. "Pid And Lqr Control Of A Planar Head Stabilization Platform." Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613713/index.pdf.
Full textAbstract:
During the uniform locomotion of legged robots with compliant legs, the body of the
robot exhibits quasi-periodic oscillations that have a disturbing eect on dierent onboard
sensors. Of particular interest is the camera sensor which suers from image
degradation in the form of motion-blur as a result of this camera motion. The eect of
angular disturbances on the camera are pronounced due to the perspective projection
property of the camera. The thesis focuses on the particular problem of legged robots
exhibiting angular body motions and attempts to analyze and overcome the resulting
disturbances on a camera carrying platform (head). Although the full problem is in 3D
with three independent axes of rotation, a planar analysis provides signicant insight
into the problem and is the approach taken in the thesis. A carefully modeled planar
version of an actual camera platform with realistic mechanical and actuator selections
is presented. Passive (ltering) and active (controller) approaches are discussed to
compensate/cancel motion generated disturbances.
We consider and comparatively evaluate PID and LQR based active control. Since
PID has the limitation of controlling only one output, PID-PID control is considered to
iv
control two states of the model. Due to its state-space formulation and the capability
of controlling an arbitrary number of states, LQR is considered.
In addition to standard reference signals, Gyroscope measured disturbance signals
are collected from the actual robot platform to analyze the bandwidth and test the
performance of the controllers. Inverted pendulum control performance is evaluated
both on a Matlab-Simulink as well as a precise electro-mechanical test setup. Since
construction of the planar head test setup is in progress, tests are conducted on simulation.
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Lin, Shih-Ming, and 林世民. "Pineview-Processor-Based Control Platform Design." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/22579319082784134966.
Full textAbstract:
碩士淡江大學
電機工程學系碩士在職專班
99
A control platform design by using the Pineview processor is proposed in this thesis. The implemented control platform has multi-functional features of a small size, light weight, high performance and easy to support software development. Furthermore, the software system is easy to support the system development. It can meet the requirement of small-size humanoid robot in the hardware/software system design. The volume and weight of the implemented hardware platform are 100×72×31 mm3 and 100 gs, respectively. In the system structure design, Pineview processor, which is developed by Intel for next generation notebook, is used to be the control center of this platform. In the circuit board realization, the FR-4 material and SMT process are applied. In the input/output interface design, the Pine Trail development platform is used to integrate many interfaces design, such as USB, Gigabit Ethernet, HD Audio, Wi-Fi, GPIO port, VGA, SPI, I2C, and RS232/485, etc. Let the implemented platform is a pluralistic control interface and the robot can use various kinds of sensors and equipments. In the support of the software system, many items of software systems can be used in the implemented control platform such as Windows XP, Windows 7, Windows CE, and Linux, etc, so that this platform can save time in the system design. In the real verification of the implemented control platform, it has been built on a small-size humanoid robot to illustrate its multiple functions.
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婁能詒. "A Platform Independent Remote Control System." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/49083746421955082660.
Full textAbstract:
碩士國立中興大學
電機工程學系
90
This thesis uses JAVA as internet programming language. A java web language Applet, is imployed for message interchange between the Server and the Client. The CGI language Servlet, is responsible for receiving message from the Client and sending this message to the platform for processing. The Client computer can be used for remote control through a web browser without installing the software environment for the whole system. The remote control sysytem is applied to a temperature control problem using a 110V AC oven as the plant. A K-type thermocouple is used for temperature sensing. The Server computer is equipped with a PCL-818L I/O card to execute data exchange and to implement the contro
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Lin, Ting-Kuan, and 林庭寬. "SDN based Smart Traffic Control Platform." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/26h8a2.
Full textAbstract:
碩士國立政治大學
資訊科學系
106
With the trend of the rapid development of the Internet of Things (IoT), the related applications are becoming more and more diverse. Gartner predicted that by 2020, there are up to 26 billion devices connected via the IoT devices. Among these, one major part is the automotive IoT devices. The concept of the IoT is to connect every device that can be connected, share information, to achieve the purpose of information sharing, and open up new application areas for data analysis and machine learning. This research is based on the assumption that there are IoT devices embedded in the traffic lights at road intersections. An "SDN Based Smart Traffic Control Platform" is proposed for the traffic congestion which is caused by traffic accidents or a large number of traffic flows that may arise during holiday festivals. In the part of network management, we apply Software Defined Networking (SDN) to traffic light management based on its underlying advantages like monitoring, setting, and management, to dynamically adjust the timing of stop light and thus reduce the average travel time. The system structure consists of the central control of the traffic, which is the control plane of the SDN, and the traffic lights close to the vehicles, which is the data plane of the SDN. The IoT devices on the traffic lights are responsible for collecting information from the vehicles. This kind of information is exchanged through IoT devices and SDN. In summary, this research proposed an "SDN Based Smart Traffic Control Platform" that combines wireless communication, software-defined networking, and other relevant technologies together with the proposed algorithm to effectively relieve traffic congestion and reduce average travel time. Experiment results show that the proposed algorithm is able to reduce the moving time up to 79.7%. With the number of vehicles increased from 100 to 600 on an 100m x 100m simulating environment, the waiting time for red lights can be largely reduced.
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曾詩閔. "Design, control and implement of digital-micro-droplet control platform." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/19712509440523356442.
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蔣易蓉. "A Reconfigurable Distributed Control Platform for Vehicle Control Development System." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/42528413314272485431.
Full textAbstract:
碩士國立彰化師範大學
電子工程學系
95
As vehicles become intelligent for the convenience and safety of drivers, the techniques of communication, sensing, signal processing and advanced microprocessors are the development focus of vehicle’s control system. However, reduce the development effort, shorten the design time, and promote technique updating of the advance vehicle for complying with the rapidly changing requirements and policy. We provide a development protocol with a platform to integrate the development lifecycle has been introduced. The objective of ECU development platform is built up a softwarized distributive control system. The hardware module embedding software component promotes the abstraction level about the function modules to ensure the capabilities of reconfigurable and reusable for easily and agilely creating the specific control system on the software distributive control platform. We study and enforce IEEE1451.x sensor network based on CAN bus. Large number of different low level sensors can be rapidly integrated to use and become a basic distributive control system. Intelligent agent technology offer easy to use to variety reconfigure basic computer agent, and availability add reused of computer resource. Consequently, the developed platform of softwarized distributive control system creates a clear migration path for system development from policy to physical communication media to possess the reconfigurable and rapid plug-and-play capabilities.
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ChangChien, Hsiu-Feng, and 張簡秀峰. "Design and Control of a 3D Electro-hydraulic Control Platform." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/01780706271589394097.
Full textAbstract:
碩士國立台灣工業技術學院
機械工程技術研究所
85
This thesis is to design setup and control a 3D RRP Electro- hydraulic control platform. If the design of components and the matrix transformation of the space coordinate. Then, use the PID control algorithm to evaluate the system characteristics and test the platform in 3-D vibratory, point-point motion and spiral motion cases. Finally, we use self-orginizing fuzzy controller to track the above three cases, and compare their tracking performance.Finally, we execute the space tracking of our plan and results indicate the specification of the design controller.
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Wu, Chien-An, and 伍建安. "Development and Control Application of Electrical Machinery Control Teaching Platform." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/h73azd.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
106
Programmable logic controller (PLC) education and training is an important internship subject in the technical and vocational education system, and it is an important basic technology for the automation equipment industry in the future. The main purpose of this thesis is to develop a teaching platform for the PLC based control architecture. Mechanical students can use this teaching platform to learn the design of Delta Electronics' hardware and software equipment, and to coordinate the theoretical teaching and practical operation planning to improve students’ learning effectiveness and establish correct development technologies and applications of electromechanical systems integration to foster the cultivation of automated talent. In this thesis, the hardware is donated by Delta Electronics; the customized teaching platform box is additionally designed. The programmable controller, touch-type human machine interface (HMI) and AC synchronous servo motor are used to system integrate control applications. The software complies with the International Electro-technical Commission (IEC). The ISPSoft tool software based on the established PLC programming language architecture IEC 61131-3 is used to edit the ladder diagram program. The platform's oscillating switch can be used to trigger input signals. The load indicator can display the output signal of PLC internal components. The application examples developed have：AC servo motor motion control paradigm, a total of five questions of level C technology for electromechanical certification and a total of nine questions of level B technology for industrial wiring work certification by the Bureau of Employment and Vocational Training, the result of the action simulation will be shown on the teaching platform.
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Wu, Zong Han, and 吳宗翰. "Temperature Control System with Android Mobile Platform." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/43317089129198255080.
Full textAbstract:
碩士朝陽科技大學
資訊工程系
104
In this study, we have developed Android temperature control system for industrial use. This system including Android platform, data server and external control unit, for communication, we used RS232 and RS485. In addition, the RS232 driver and API had been developed by NDK in this study. Therefore, the developed temperature control system could communicate between Android platform and external control unit through RS232. Compared with traditional temperature controller, the developed temperature control system has low cost, friendly user interface, database which including recorder functions, larger number for external control switches and supporting multiple types temperature sensors module etc. By summarizing all of the advantage, our developed system is suitable for industrial temperature controlling in future.
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Hsien, Lin Yui, and 林育賢. "Analysis and control of Hexaglide Stewart platform." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/78009324644975537003.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
88
Expanding the facilities of traditional Stewart platform, the thesis foucses on hexaglide Stewart platform.Firstly, the thesis analyses the kinematics and dynamics of hexaglide Stewart platform in general form, and solves the forward kinematic equation, inverse kinematic equation, dynamic equation, and inverse dynamic equation of the general form. Then we apply these equations to the specific form, which is include parallel hexaglide platform and triangle hexaglide platform. The hexaglide Stewart platform is a nonlinear system. For achieving the high precising tracking control of acceleration, the controller must have an inverse dynamic feedforward compensator. But it is needed to know system parameters before using the feedforward compensator. So we use an online parameters estimator to learn system parameters in real time. The computer simulation result that the parameters estimator can obtain the almost actual values of system parameters. It is concluded that the controller with the inverse dynamic feedforward compensator can achieve the high accelerating performance of the motion platform as wanted.
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CHEN, YU-XIANG, and 陳玉祥. "Fuzzy logic control of the stewart platform." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/40710941434720895949.
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WU, Wen-Chin, and 吳文進. "The Force Control of Jumping on Platform." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/90670982961719021722.
Full textAbstract:
碩士國立彰化師範大學
應用運動科學研究所
99
The purpose of this study was to investigate the mechanism of force control for submaximal jumps to the different heights and distances of target platform by the momentum-impulse relationship. Ten male college students major physical education were recruited as the volunteer participant. The mean age, height, and weight of participants were 20.2 ± 0.6 years old, 171.1 ± 6.9 cm, and 60.9 ± 5.4 kg respectively. They were asked randomly to perform vertical jump to knee height, vertical jump to a half knee height, long jump 1 m to knee height, and long jump1 m to a half knee height of platforms from a Kislter force platform (9287BA, 1000 Hz). The 2 (distance) × 2 (height) repeated measures two way ANOVAs were used to test the statistical difference of biomechanical parameters with an alpha level .05. The results showed that the total impulse of ground reaction force (GRF), acceleration impulse of GRF, and deceleration impulse of GRF were increase significantly following the increase of platform height (p < .05). The peak GRF was showed no statistical difference on the height factor (p > .05), but the peak GRF of vertical jump was larger than long jump 1 m significantly (p < .05). The ratio of acceleration impulse to deceleration impulse of GRF was higher under the conditions of a half knee height and vertical (p < .05). It indicated that the control of acceleration impulse was the mainly strategy to perform submaximal vertical jump and long jump to a half knee height.
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Cheng, Chao-ren, and 鄭朝仁. "FPGA Based Robot Hardware Control Platform Design." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/17532603407518554645.
Full textAbstract:
碩士國立臺灣科技大學
電機工程系
96
The motivation of this thesis is to design a robot control hardware platform by using the Field Programmable Gate Array chip and the Verilog hardware description language to realize motion control interface circuits, motor position closed loop PID control as well as RS232 communication module. Hierarchical structure and modulization method is adapted to simplify the circuit design and easy to verification. Using this robot hardware platform, we realize a wheeled robot system which is consist of by ten servo motors as well as two DC motors, and design a scenario for the robot making a succession of hand guidance traffic control gestures.
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吳文真. "An Experimental Platform for Smart Car Control." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/07154393613420440762.
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Hui-Wen, Lin, and 林慧雯. "A High Extensible Home Appliance Control Platform." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/46844893155766723725.
Full textAbstract:
碩士國立交通大學
資訊科學系所
93
Since the population of the network technology, more and more home appliances supports the capability of network connection. It means that the house owners could interact with home appliances wherever they are. Nowadays most interacting applications are developed for particular protocols (UPNP, JINI), and executed on special environment (J2ME, .NET Platform). To solve the problems mentioned above, we proposed a high extensible Platform named IAC Platform. It defines the descriptor that abstracts the services, and transforms services that are in varied protocols into OSGi services. It also provides a universal interface so that the developers could write interacting applications with the same procedure. Besides, we take use of ART Platform to improve the adaptive capability of the platform. IAC Platform not only integrates the network protocols and execution environments, but also makes the applications support new services and new protocols without be rewritten.
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Chen, Chen-Jen, and 陳昶任. "Cross-Platform Integrative, journalistic Flow Control System." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/46427531747320958368.
Full textAbstract:
碩士國立交通大學
資訊科學系
91
Today is global information explosion and newsmedia is the results by which huge information is filtered. Journalistic competition is more serious and all newsmedia want to achieve the goal, which is increasing news source, high up news determinacy and value, and costing down investigative report and edit. Cross-Platform Integrative, journalistic Flow Control System is a newsmedia processing system. All kinds of huge source is processed more streamlined and more cost-efficient based on gatekeeper theory to news content. These source include news group, mobile content, voice content, web system and XML system etc. All news content will be rewrite base on different platform and it will down operating cost. Besides, single time point news content can be translated to tracking news content by history search. Finally, re-evaluate system worked with these processing system will help newsman more professional on news content, and help newsmedia organization to evaluate news employee in impersonal point and some dimensional rule. This thesis consists of three major parts: (1) We describe today''s newsmedia, including newspaper, radio, television and network media. By introducing newsmedia, we picture system structure and how newsman can work together with this system. (2) We introduce what is gatekeeper theory at first. And then we physically exercise how news source process to news content cooperating by reporter, editor and master editor, and how to store content in XML way and publish to browser. (3) We outline system conditions and our acquaintance about this system. We also describe possible future work.
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Wang, Chun-Chih, and 王俊智. "Robust Attitude Control of a Stewart Platform." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/04574213936112227524.
Full textAbstract:
碩士國立臺灣大學
機械工程學系研究所
86
Traditional control of the Stewart platform places stress on the performance of the linear actuators so that the attitude of the platform can be determined by static inverse kinematics. This approach is gradually loosing its advantage due to the demand on the positioning accuracy and the increased computation power on a single dedicated processor. Based on the iteration type forward kinematics calculation, one can determine the platform attitude on-line. As a result, direct attitude feedback control becomes feasible. This thesis studied the attitude control of a Stewart type motion platform. Two different non-linear manipulator control algorithms are discussed. First a Lyapunov type robust compensator is derived to compensate for the attitude measurement resolutions and plant uncertainties. Then a robust feedback compensation for the manipulator dynamics is introduced. The control achieves not only attitude regulation but also trajectory following. Simulation results show that both algorithms achieve positioning control with a pre-specified control resolution. The controllers are useful for the servo system in the future on-line six degree-of-freedom motion simulator.
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Lazghab, Seifeddine. "Control of a mobile platform didactic purposes." Master's thesis, 2021. http://hdl.handle.net/10198/24003.
Full textAbstract:
Robots are electromechanical machines having ability to perform tasks or actions on
some given electronic programming. Line follower robots are mobile robots having ability
to follow a line very accurately having an onboard hardwired control circuit. while
Omni directional mobile robots have been popularly employed in several applications.This
situation brings the idea of omnidirectional robot at manufacturing. Such a robot can
respond more quickly and it would be capable of more sophisticated behaviors such as
to transport materials and placed on processing machine and outgoing warehouses. This
thesis has tried to focus in the control of four wheel omnidirectional mobile robot to
be applied to the Factory Lite competition. Four motors are used for governing wheel’s
motion. Practical applications of a line follower and odometry will be implemented in
this work.Les robots sont des machines électromécaniques capables d'exécuter des tâches ou des actions selon une programmation électronique donnée. Les robots suiveurs de ligne sont des robots mobiles capables de suivre une ligne avec une grande précision grâce à un circuit de contrôle câblé embarqué. Les robots mobiles omnidirectionnels sont couramment utilisés dans plusieurs applications, ce qui amène l'idée d'un robot omnidirectionnel dans la fabrication. Un tel robot peut Un tel robot peut répondre plus rapidement et il serait capable de comportements plus sophistiqués tels que transporter des matériaux et les placer sur des machines de traitement et des entrepôts de sortie. Cette thèse a essayé de se concentrer sur le contrôle d'un robot mobile omnidirectionnel à quatre roues pour être appliqué à la compétition Factory Lite. Quatre moteurs sont utilisés pour gouverner le mouvement des roues. Des applications pratiques d'un suiveur de ligne et d'odométrie seront mises en oeuvre dans ce travail.
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Zawiski, Radosław. "Control-oriented modelling of quadrotor UAV platform." Rozprawa doktorska, 2012. https://repolis.bg.polsl.pl/dlibra/docmetadata?showContent=true&id=3200.
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Zawiski, Radosław. "Control-oriented modelling of quadrotor UAV platform." Rozprawa doktorska, 2012. https://delibra.bg.polsl.pl/dlibra/docmetadata?showContent=true&id=3200.
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Oliveira, Rui Filipe Dominguez de. "Access control mechanisms for an IoT platform." Master's thesis, 2019. http://hdl.handle.net/10773/29521.
Full textAbstract:
Access control mechanisms are used to ensure that privileged information
and resources are not accessed by, or disclosed to, unauthorized entities. The
XACML specification, in addition to being one of the most important standards,
is also widely used to define access control policies. XACML was proposed
by the OASIS consortium and defines an attribute-based access control policy
language expressed in an XML format. The standard also defines a reference
architecture and a processing model in which are described how access requests
should be evaluated according to the attributes defined in access control
policies.
The main drawback of XACML is the verbosity of its syntax, since it uses XML.
To overcome this issue, we defined an access control language in YAML upon
the key concepts of XACML. Unlike XACML, the YAML language is simple,
which makes access control policies easy to define and interpret by humans.
The main challenge of creating an IoT access control system is the performance
of the policy evaluation engine, particularly in systems with a large
number of clients. Sun Microsystems’ implementation of the XACML specification
is the most widely used solution for defining and evaluating access
control rules, but it is not the most efficient, since it performs a brute force
search for evaluating the predicates defined in the access request against the
access control policies defined in the authorization system. Our solution is
based on two tree data structures, the Decision Tree and the Combining Tree.
The attributes defined in the access control policies are extracted, combined
and then later used to build up the Decision Tree. The Decision Tree is used
to find the applicable rules for a given set of attributes defined in an access
request. On the other hand, the Combining Tree is used to calculate the final
authorization decision according to the combining algorithms defined in
the access control policies applicable to a given access request. The results
show that our solution is about two orders of magnitude more efficient than
the Sun Microsystems’ implementation.
Finally, we also introduced two caching strategies to improve the performance
of our engine. For each access request the engine creates and stores the
subset of the Decision Tree that was used to calculate the authorization decision
for a given request. In the first strategy, the engine creates and stores
a Decision Tree subset applicable to each access request that hits the authorization
system. In the second strategy, the client can define when each
subtree should be cached by the engine. The experimental results showed
that our first caching solution does not improve the performance of the engine,
whereas the second solution improves the overall processing time.Os mecanismos de controlo de acesso são utilizados para prevenir que entidades não autorizadas acedam a recursos protegidos. A especificação XACML, para além de ser um dos padrões mais importantes, é também o mais utilizado para definir políticas de controlo de acesso. O XACML foi criado pelo consórcio OASIS e distingue-se por definir uma linguagem de política de controlo de acesso num formato XML baseado em atributos. Ademais, a especificação também define uma arquitetura de referência e um modelo de avaliação dos pedidos de acesso de acordo com os atributos definidos nas políticas de controlo de acesso. A principal desvantagem do XACML surge através da utilização do XML para descrever políticas de controlo de acesso, uma vez que possui uma sintaxe bastante detalhada e redundante quando comparado com outras linguagens. Por este motivo, propusemos uma linguagem de descrição de políticas de controlo de acesso baseado em XACML usando a linguagem YAML. Ao contrário do XACML, a linguagem YAML evidencia-se como mais simples, tornando as políticas de controlo de acesso mais fáceis de definir e de interpretar por humanos. Um dos maiores desafios na construção de um mecanismo de controlo de acesso em IoT diz respeito à eficiência com que o sistema necessita de avaliar os pedidos de acesso, particularmente em sistemas com um grande número de clientes. A implementação da especificação XACML da Sun Microsystems é a solução mais utilizada para definir e avaliar regras de controlo de acesso; porém, não é a mais eficiente, uma vez que avalia as políticas de controlo de acesso através de uma pesquisa por força bruta. A solução apresentada neste trabalho, baseia-se em duas estruturas de dados em árvore, nomeadamente a Árvore de Decisão e a Árvore de Combinação. Os atributos definidos nas políticas de controlo de acesso são extraídos e combinados e, posteriormente, organizados na Árvore de Decisão, que é usada para descobrir as regras que se aplicam a um determinado conjunto de atributos definidos num pedido de acesso. Por outro lado, a Árvore de Combinação é utilizada para calcular a decisão de autorização final de acordo com os algoritmos de combinação definidos nas políticas de controlo de acesso aplicáveis aos atributos definidos no pedido de acesso. Os resultados mostram que a nossa solução é cerca de duas ordens de grandeza mais eficiente que a implementação da Sun Microsystems. Por último, de forma a melhorar o tempo de avaliação dos pedidos de controlo de acesso, apresentámos duas estratégias de cache que por cada pedido de acesso guardam a sub-árvore usada para calcular a decisão de autorização. Na primeira estratégia, a sub-árvore é criada e guardada por cada pedido que é avaliado pelo sistema de controlo de acesso. No que respeita à segunda estratégia, o cliente pode definir quando é que essa sub-árvore deve ser guardada para uso futuro. Os resultados experimentais mostraram que a primeira solução não apresenta melhorias na eficiência do sistema, enquanto que a segunda solução melhora o tempo de processamento geral dos pedidos.
Mestrado em Engenharia de Computadores e Telemática
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Chang, Hong Ming, and 張宏銘. "Variable Structure Control of an Electropneumatic Platform." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/15814472637285156351.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
90
System uncertainties induced by structural interactions and nonlinear pneumatic natures are evident in an electropneumatic platform control system. In this thesis, based on the concept of decentralized control, the system is separated into four subsystems, and structure interactions are considered as unknown external forces. It is concerned with the application of pole placement control、variable structure model reference control and variable structure model reference adaptive control to improve the synchronization control of an electropneumatic platform. The pole placement control algorithm can assign the designed poles. Thus, the four subsystems would have similar dynamic characteristics in order to overcome the structural differences. However, since pneumatic servo system is nonlinear and time-invariant, its controlled accuracy would be limitedly improved. Variable structure model reference control is incorporated with the compensation of model tracking error and synchronization error of the four subsystems. It has better tracking capability and disturbance rejection. It can overcome parametrical variations and structure interactions. Master-slaver control algorithm is also included to compensate the synchronization error. Besides, variable structure model reference adaptive control has the advantages of the adaptive control and variable structure control. The system’s parameters can be adjusted on-line to determine an optimal switching surface and reduce the chattering phenomenon of the traditional variable structure control system. Finally, experimental results show that variable structure model reference adaptive control has excellent synchronization performance.
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Wang, Chien-Chi, and 王健萁. "Research on servo control of seismic platform." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/30594370646124826047.
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碩士義守大學
電機工程學系碩士在職專班
99
The occurrence of the recent tsunami and earthquake tremors looks so alarmed. The government and the residents are concerned with the ability of the buildings constructed to withstand the vibrations resulted from the earthquakes. The challenge is to develop an Earthquake Simulator that can generate sine wave and real earthquake signal playback. Using National Instruments (NI) LabVIEW, and the PCI-6221 module, to create an easy-to-use software and hardware solution for controlling large public earthquake simulators. This system is named as the earthquake simulator system. The objective of the Earthquake Simulator System is to act as a test platform for the structural analysis of scaled down modeling of buildings under earthquake vibrations and also as a platform to train the public on the safety awareness to tackle the situation during an earthquake event. Small-scaled building models can be first built and fitted onto the earthquake simulator platform. Different types of motion profile can be selected to generate the earthquake motion. They are: sine wave and real earthquake signal. The frequency of shake can be configured from 1 to 30Hz.
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Lin, Ta-Yeh, and 林大曄. "The X-Y Platform Remote Control System." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/ra2xxn.
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碩士國立臺北科技大學
機電整合研究所
93
Changes with each new day along with the network science and technology, the word ”remote control” is not strange anymore. But how to promote the accuracy and operation convenience of remote control, becomes the goal of the present paper research. In the software aspect, the VBA language constructed in the AutoCAD edition was used to compose the human-machine interface and Visual Basic software was used to design motion control program, the control parameter and the control command was delivered to the X-Y platform using the TCP/IP network communication. In the hardware aspect, the C-843 motion control card and the type M511 X-Y platform (in the order of 0.1 m) produced by PI Company were used as actuate. The Client PC composed of P4-1.6G NB PC with 5-Ports 10/100 Mbps switch hub connected with P3-0.8G Server PC through Ethernet network. In the study, we use the Client/Server structure to achieve goal of the remote control; in the aspect of network communication security, we assign the IP address of Client PC and Server PC to screen the packet and to decide destiny of the data. In order to prevent the system invaded by other person, the packet from other original ends or other target ends were not allowed to be retained or used. As for the aspect of network transmission quality, we used the WDT (Watch Dog Timer) program function to distinguish the on-line ready action of the computer before the workstation computer issuing the control command, so as to elevate the correction of the connection between the workstations and to reduce the waiting time of data transmission, and consequently reduce the network transmission loading. The key point of the study lies in the remote control, we hope the users draw the processing graph on the AutoCAD of Client PC and combine with human-machine interface operation; after complete the design of the graph, the user can control the X-Y platform through TCP network to achieve the precision positioning limited with velocity and acceleration.
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Xiao, Xi-Quan, and 蕭錫全. "Motion Control of XXY Precision Alignment Platform." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/cbda9t.
Full textAbstract:
碩士國立雲林科技大學
電機工程系
107
In recent years, due to the diversification and functional complexity of various products, coupled with the continuous improvement and improvement of micro-system technology, many industries, such as semiconductor industry, flat panel display industry (FPD) and printed circuit board (PCB) industry... Etc., all have moved toward the submicron scale and even the nanometer scale of microfabrication. Therefore, the standards of process technology are increasingly strict, high-speed, high-precision, high-stability fine-package technology, combined with various process analysis, micro-assembly technology, software programming, image vision, multi-axis motion control⋯ The integration of technologies, etc., is even more demanding. This paper is divided into two parts (1) XXY three-axis platform motion control (2) image processing system for research and analysis.the motion control part of this experiment uses the PCI-7390 motion control card developed by National Instruments.Ezi-Servo stepper servo motor driver is used to control the movement of the XXY platform, EmguCV is used for image processing, and SURF[4] algorithm is used to search the region of interest of the precision components on the mobile phone panel to complete the identification mark. The obtained marker coordinate information is fed back to the controller and converted into the pulse amount required by the XXY platform to complete the alignment. In the experimental part, the first part of the uniaxial control is completed, and then extended to the multi-axis control, the final rotation motion, and the motion control of the origin search. In the alignment, the actual object is obtained through the dual CCD lens and image processing. The coordinate gap from the center point of the lens is corrected by converting the distance of the object from the center coordinate to the amount of movement required by the platform to correct the X-axis and the Y-axis. The rotating part is first mathematically modeled by a program provided by the company. After the angle of rotation of the item is obtained, the amount of movement required by the platform is reversed to perform the final alignment.
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Kalavacharla, Krishna Chaitanya. "Control and Coordination in a Networked Robotic Platform." 2011. http://trace.tennessee.edu/utk_gradthes/886.
Full textAbstract:
Control and Coordination of the robots has been widely researched area among the swarm robotics. Usually these swarms are involved in accomplishing tasks assigned to them either one after another or concurrently. Most of the times, the tasks assigned may not need the entire population of the swarm but a subset of them. In this project, emphasis has been given to determination of such subsets of robots termed as ”flock” whose size actually depends on the complexity of the task. Once the flock is determined from the swarm, leader and follower robots are determined which accomplish the task in a controlled and cooperative fashion. Although the entire control system,which is determined for collision free and coordinated environment, is stable, the results show that both wireless (bluetooth) and internet (UDP) communication system can introduce some lag which can lead robot trajectories to an unexpected set. The reason for this is each robot and a corresponding computer is considered as a complete robot and communication between the robot and the computer and between the computers was inevitable. These problems could easily be solved by integrating a computer on the robot or just add a wifi transmitter/receiver on the robot. On going down the lane, by introducing smarter robots with different kinds of sensors this project could be extended on a large scale for varied heterogenous and homogenous applications.
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Chen, Shang-Yi, and 陳尚義. "Automatic Derivation of Motion Platform Control Parametersfrom Video." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/45g7pv.
Full textAbstract:
碩士國立中山大學
資訊工程學系研究所
103
Virtual reality, coupled with motion platform, provides immersive experience to the users. The video played has to be synchronized seamlessly with the movement of the motion platform. A video is composed of a hierarchy of frame, shot, cluster and scene. During the shooting of a video, the cameraman manipulates the camera through different angles, lenses and zooming coefficients based on personal experience. On the other hand, given the video taken, a technician is required to observe the scene change visually and manually adjust the movement of motion platform to match the video scenario. This reverse engineering process is both labor-intensive and time-consuming. In light of the aforementioned pitfalls, this study will employ image processing techniques to facilitate the automatic derivation of motion platform control parameters from video. Through the segmentation of video into scene, cluster, shot and frame, camera manipulation, e.g., zoom, pan, tilt, and displacement, will be derived on a frame-by-frame basis. These parameters will then feed into the existing Brogent Technologies, Inc. API to control the corresponding movement, including Heave, Sway, Surge, Pitch, Roll, and Yaw of the motion platform. The development of the automatic derivation of motion platform control parameters from video can expedite the control of motion platform in a fast-changing environment and lower the operating cost. A highly efficient and automatic theatrical motion platform system can be constructed, to increase the competitiveness of Brogent Technologies Inc. in the field of high-end virtual reality.