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All Articles in Controls and Control Theory

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Stability Analysis Of A More General Class Of Systems With Delay-Dependent Coefficients, Chi Jin, Keqin Gu, Islam Boussaada, Silviu-Iulian Niculescu 2019 Laboratoire des Signaux et Syst`emes (L2S) CentraleSup´elec-CNRS-Universit´e Paris Sud, 3 rue Joliot- Curie 91192 Gif-sur-Yvette cedex, France.

Stability Analysis Of A More General Class Of Systems With Delay-Dependent Coefficients, Chi Jin, Keqin Gu, Islam Boussaada, Silviu-Iulian Niculescu

SIUE Faculty Research, Scholarship, and Creative Activity

This paper presents a systematic method to analyse the stability of systems with single delay in which the coefficient polynomials of the characteristic equation depend on the delay. Such systems often arise in, for example, life science and engineering systems. A method to analyze such systems was presented by Beretta and Kuang in a 2002 paper, but with some very restrictive assumptions. This work extends their results to the general case with the exception of some degenerate cases. It is found that a much richer behavior is possible when the restrictive assumptions are removed. The interval of interest for the ...


Signal Identification In Discrete-Time Based On Internal-Model-Principle, Jie Chen 2018 The University of Western Ontario

Signal Identification In Discrete-Time Based On Internal-Model-Principle, Jie Chen

Electronic Thesis and Dissertation Repository

This work presents an implementation of a signal identification algorithm which is based on the internal model principle. By using several internal models in feedback with a tuning function, this algorithm can decompose a signal into narrow-band signals and identify the frequencies, amplitudes and relative phases. A desired band-pass filter response can be achieved by selecting appropriate coefficients of the controllers and tuning functions, which can reject the noise and improve the performance. To achieve a result with fast transient characteristics, this system is then modified by adding a low-pass filter. This work is based on the previous work in ...


Quadrotor Swarm Arena (Quasar) Development Of A Swarm Control Testbed, Shane T. Stebler, William MacKunis 2018 Embry-Riddle Aeronautical University

Quadrotor Swarm Arena (Quasar) Development Of A Swarm Control Testbed, Shane T. Stebler, William Mackunis

Beyond: Undergraduate Research Journal

Swarm control systems are increasingly popular in the robotics industry and academia due to their many potential applications. The goal of the Quadrotor Swarm Arena (QuaSAr) project is to construct a quadrotor swarm control testbed to provide researchers with the tools needed to experimentally investigate this emerging science. This testbed is equipped with a motion capture system, test control station, and numerous quadrotor UAVs. MATLAB-Simulink is utilized for control law development, data processing, and test control. This configuration allows researchers to test developing control law in a 'plug and play' manner as control development and test control are all completed ...


Transformerless High-Power Medium-Voltage Multi-Module Pv Converters, Hasan Bayat 2018 The University of Western Ontario

Transformerless High-Power Medium-Voltage Multi-Module Pv Converters, Hasan Bayat

Electronic Thesis and Dissertation Repository

This thesis is focused on the modular multilevel converter (MMC) for Photovoltaic (PV) applications. It is an attempt to address the issues associated with the modeling, control, and power mismatch elimination of the MMC-based PV systems. Firstly, a new real power reference generation scheme is proposed that creates a linear relationship between the real power reference of the system and the dc link voltage of the submodules. Further, a new power mismatch elimination strategy is proposed for the MMC-based PV system which ensures balanced currents are delivered to the host grid regardless of leg and arm power mismatches. The thesis ...


Simplecar: An Efficient Bug-Finding Tool Based On Approximate Reachability, Jianwen Li, Rohit Dureja, Geguang Pu, Kristin Yvonne Rozier, Moshe Y. Vardi 2018 Iowa State University

Simplecar: An Efficient Bug-Finding Tool Based On Approximate Reachability, Jianwen Li, Rohit Dureja, Geguang Pu, Kristin Yvonne Rozier, Moshe Y. Vardi

Aerospace Engineering Conference Papers, Presentations and Posters

We present a new safety hardware model checker SimpleCAR that serves as a reference implementation for evaluating Complementary Approximate Reachability (CAR), a new SAT-based model checking framework inspired by classical reachability analysis. The tool gives a “bottom-line” performance measure for comparing future extensions to the framework. We demonstrate the performance of SimpleCAR on challenging benchmarks from the Hardware Model Checking Competition. Our experiments indicate that SimpleCAR is particularly suited for unsafety checking, or bug-finding; it is able to solve 7 unsafe instances within 1 h that are not solvable by any other state-of-the-art techniques, including BMC and IC3/PDR, within ...


Microgrid Protection Student Laboratory: Human-Machine Interface And Scada Database, Nathan P. Martinez 2018 California Polytechnic State University, San Luis Obispo

Microgrid Protection Student Laboratory: Human-Machine Interface And Scada Database, Nathan P. Martinez

Electrical Engineering

The electric utility system, a ubiquitous and fundamental component of modern life, has changed more in the last 20 years than the last 100. With more homes and businesses installing distributed energy resources (DERs) such as solar panels, battery storage, and other intermittent sources, massive changes need to take place in the electric transmission and distribution systems. Engineers must develop a new skill set for a modern utility industry. This project summarizes a component for a new laboratory class aimed at power engineering students at Cal Poly which supports the laboratory through the creation of a human-machine interface (HMI) and ...


Artificial Neural Network-Based Robotic Control, Justin Ng 2018 California Polytechnic State University, San Luis Obispo

Artificial Neural Network-Based Robotic Control, Justin Ng

Master's Theses and Project Reports

Artificial neural networks (ANNs) are highly-capable alternatives to traditional problem solving schemes due to their ability to solve non-linear systems with a nonalgorithmic approach. The applications of ANNs range from process control to pattern recognition and, with increasing importance, robotics. This paper demonstrates continuous control of a robot using the deep deterministic policy gradients (DDPG) algorithm, an actor-critic reinforcement learning strategy, originally conceived by Google DeepMind. After training, the robot performs controlled locomotion within an enclosed area. The paper also details the robot design process and explores the challenges of implementation in a real-time system.


Development Of A Fully Instrumented, Resonant Tensegrity Strut, Kentaro Barhydt 2018 Union College

Development Of A Fully Instrumented, Resonant Tensegrity Strut, Kentaro Barhydt

Honors Theses

A tensegrity is a structure composed of a series of rigid members connected in static equilibrium by tensile elements. A vibrating tensegrity robot is an underactuated system in which a set of its struts are vibrated at certain frequency combinations to achieve various locomotive gaits. Evolutionary robotics research lead by Professor John Rieffel focuses on exploiting the complex dynamics of tensegrity structures to control locomotion in vibrating tensegrity robots by finding desired gaits using genetic algorithms. A current hypothesis of interest is that the optimal locomotive gaits of a vibrating tensegrity exist at its resonant frequencies.

In order to observe ...


Towards Autonomous Localization Of An Underwater Drone, Nathan Sfard 2018 California Polytechnic State University, San Luis Obispo

Towards Autonomous Localization Of An Underwater Drone, Nathan Sfard

Master's Theses and Project Reports

Autonomous vehicle navigation is a complex and challenging task. Land and aerial vehicles often use highly accurate GPS sensors to localize themselves in their environments. These sensors are ineffective in underwater environments due to signal attenuation. Autonomous underwater vehicles utilize one or more of the following approaches for successful localization and navigation: inertial/dead-reckoning, acoustic signals, and geophysical data. This thesis examines autonomous localization in a simulated environment for an OpenROV Underwater Drone using a Kalman Filter. This filter performs state estimation for a dead reckoning system exhibiting an additive error in location measurements. We evaluate the accuracy of this ...


Applications Of Complex Network Analysis In Electric Power Systems, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed 2018 CUNY City College

Applications Of Complex Network Analysis In Electric Power Systems, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed

Publications and Research

This paper provides a review of the research conducted on complex network analysis (CNA) in electric power systems. Moreover, a new approach is presented to find optimal locations for microgrids (MGs) in electric distribution systems (EDS) utilizing complex network analysis. The optimal placement in this paper points to the location that will result in enhanced grid resilience, reduced power losses and line loading, better voltage stability, and a supply to critical loads during a blackout. The criteria used to point out the optimal placement of the MGs were predicated on the centrality analysis selected from the complex network theory, the ...


Design Of A Distributed Real-Time E-Health Cyber Ecosystem With Collective Actions: Diagnosis, Dynamic Queueing, And Decision Making, Yanlin Zhou 2018 University of Nebraska - Lincoln

Design Of A Distributed Real-Time E-Health Cyber Ecosystem With Collective Actions: Diagnosis, Dynamic Queueing, And Decision Making, Yanlin Zhou

Theses, Dissertations, and Student Research from Electrical & Computer Engineering

In this thesis, we develop a framework for E-health Cyber Ecosystems, and look into different involved actors. The three interested parties in the ecosystem including patients, doctors, and healthcare providers are discussed in 3 different phases. In Phase 1, machine-learning based modeling and simulation analysis is performed to remotely predict a patient's risk level of having heart diseases in real time. In Phase 2, an online dynamic queueing model is devised to pair doctors with patients having high risk levels (diagnosed in Phase 1) to confirm the risk, and provide help. In Phase 3, a decision making paradigm is ...


Scada And Plc Systems Configuration For The Ncrept Test Facility, Arman Ahmed 2018 University of Arkansas, Fayetteville

Scada And Plc Systems Configuration For The Ncrept Test Facility, Arman Ahmed

Electrical Engineering Undergraduate Honors Theses

This thesis details the project to update the control and interface system of the National Center for Reliable Electric Power Transmission (NCREPT) testing facility. The need for this project arose from the 2017-2018 expansion of the facility, which included some modifications in the layout of electrical equipment used for testing purposes. These modifications necessitated the update of the control and interface system. Additionally, the old system was implemented a decade ago and is nearing obsolescence, so the facility’s expansion served as an opportune time for an upgrade.

There were two main parts to the scope of this project, which ...


Application Of Modular Multilevel Converters (Mmc) Using Phase-Shifted Pwm And Selective Harmonic Elimination In Distribution Systems, Thouhidul Islam 2018 University of Arkansas, Fayetteville

Application Of Modular Multilevel Converters (Mmc) Using Phase-Shifted Pwm And Selective Harmonic Elimination In Distribution Systems, Thouhidul Islam

Theses and Dissertations

Reducing the size and weight of a power electric system is a prodigious challenge to researchers as the development of the latest technologies emerge in the field of electrical engineering. A similar urge is there to develop a light-weight mobile power substation (MPS) to use in the electric power distribution systems during emergency conditions. This thesis proposes a power electronics based solution using the modular multilevel converter (MMC) topology to design the MPS system. The market-available power semiconductor devices are analyzed and suitable devices are selected to design the system. The phase-shifted pulse width modulation (PS-PWM) and selective harmonic elimination ...


Automated Control System Design Manual For Plant Growth And Support, Brooke Benham 2018 University of Arkansas, Fayetteville

Automated Control System Design Manual For Plant Growth And Support, Brooke Benham

Biological and Agricultural Engineering Undergraduate Honors Theses

The “Automated Control System Design Manual for Plant Growth and Support” project contains a teaching manual for high school students and teachers to use to aid in teaching STEM subjects. Building confidence in students and encouraging the pursuit of STEM related fields is one of the primary functions. This project utilizes low cost instruments and freely available software to teach the construction, installation, programming, and application for an automated control system with emphasis on plant growth and regulation. The end result is a fully automated system that can be controlled wirelessly via an android application to monitor temperature, humidity, and ...


Grid-Connected Photovoltaic Systems Based On Nonlinear Control., Pablo R. Rivera 2018 University of Louisville

Grid-Connected Photovoltaic Systems Based On Nonlinear Control., Pablo R. Rivera

Electronic Theses and Dissertations

Nowadays, due to the high-scale penetration of photovoltaic systems, reliable and efficient grid-connected photovoltaic (PV) systems utilizing the advances of power electronics and control system technology are desirable. Thus, single-stage grid-connected photovoltaic systems, have gained attention, especially in low voltage applications. However, PV systems exhibit nonlinear behavior that could negatively affect the performance of the system if they are not adequately compensated for. In this dissertation, using the general structure for the synchronous dq0 frame, a single-stage three-phase grid-connected photovoltaic system, and a single-stage single-phase grid-connected PV system, both with a nonlinear control strategy, are developed to track the maximum ...


Challenges In Flexible Microsystem Manufacturing : Fabrication, Robotic Assembly, Control, And Packaging., Danming Wei 2018 University of Louisville

Challenges In Flexible Microsystem Manufacturing : Fabrication, Robotic Assembly, Control, And Packaging., Danming Wei

Electronic Theses and Dissertations

Microsystems have been investigated with renewed interest for the last three decades because of the emerging development of microelectromechanical system (MEMS) technology and the advancement of nanotechnology. The applications of microrobots and distributed sensors have the potential to revolutionize micro and nano manufacturing and have other important health applications for drug delivery and minimal invasive surgery. A class of microrobots studied in this thesis, such as the Solid Articulated Four Axis Microrobot (sAFAM) are driven by MEMS actuators, transmissions, and end-effectors realized by 3-Dimensional MEMS assembly. Another class of microrobots studied here, like those competing in the annual IEEE Mobile ...


Controllability And Observability Of The Discrete Fractional Linear State-Space Model, Duc M. Nguyen 2018 Western Kentucky University

Controllability And Observability Of The Discrete Fractional Linear State-Space Model, Duc M. Nguyen

Masters Theses & Specialist Projects

This thesis aims to investigate the controllability and observability of the discrete fractional linear time-invariant state-space model. First, we will establish key concepts and properties which are the tools necessary for our task. In the third chapter, we will discuss the discrete state-space model and set up the criteria for these two properties. Then, in the fourth chapter, we will attempt to apply these criteria to the discrete fractional model. The general flow of our objectives is as follows: we start with the first-order linear difference equation, move on to the discrete system, then the fractional difference equation, and finally ...


Development And Testing Of 3d Printed Prostheses, Orthoses, And Assistive Devices For Children And Adults, Walker Arce 2018 University of Nebraska at Omaha

Development And Testing Of 3d Printed Prostheses, Orthoses, And Assistive Devices For Children And Adults, Walker Arce

Student Research and Creative Activity Fair

User controllable interfaces for exoskeletons have consisted of either switch controlled interfaces, for ‘on’ or ‘off’, or elastic powered schemes that allow the user’s wrist flexion to provide the resistance for their therapy. This project aims to develop a hands-free mode of control for the exoskeleton, that uses more advanced electronic components to achieve a more natural user interface. Our approach to this project is the prototyping of a control system that uses the MyoBand Gesture Control Armband (MyoBand), and a simple Arduino based electronic design. The three modes of operation possible for this design is measuring the electrical ...


From A Locally Competitive Algorithm To Sensory Relevance Models, Walter Woods 2018 Portland State University

From A Locally Competitive Algorithm To Sensory Relevance Models, Walter Woods

Electrical & Computer Engineering PhD Day

This poster addresses the development of a new Machine Learning (ML) mechanism, the Sensory Relevance Model (SRM), as a means of splitting information processing tasks into two sub-tasks with more intuitive properties. Specifically, SRMs are a front-end for other ML techniques, re-mapping the input data to a similar space with significantly more sparsity, achieved through the transformation and suppression of inputs irrelevant to the task. Prior work has attempted to reveal this information for Neural Networks (NNs) either as a post-processing step via saliency maps or through a simple masking of the input achieved with a dot product (so-called ``attention ...


Coaxial Magnetic Gearbox With A Flux Concentration Halbach Rotor And Consequent Pole Rotor Typology, Ho Yin Wong 2018 Portland State University

Coaxial Magnetic Gearbox With A Flux Concentration Halbach Rotor And Consequent Pole Rotor Typology, Ho Yin Wong

Electrical & Computer Engineering PhD Day

This paper presents the performance comparison between a flux concentration and triple permanent magnet consequent pole magnetic gear rotor typology with the same 7.5:1 gear ratio. The triple permanent magnet consequent pole magnetic gear is unique in that it can create torque change through two field heterodyning pole combinations. The performance with respect to volumetric and mass torque density is considered. It is shown that the flux concentration typology can operate with a higher mass and volumetric higher torque density, even when using a low flux concentration ratio rotor.


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