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Articles 1 - 30 of 94
Full-Text Articles in Engineering
An Ultrasensitive Bacterial Detection Platform For Culture-Free Diagnosis Of Infections, Xuyang Shi
An Ultrasensitive Bacterial Detection Platform For Culture-Free Diagnosis Of Infections, Xuyang Shi
ETD Archive
The current methods of the diagnosis of bloodstream infections are based on bacterial culture growth, a process that requires considerable time, e.g., 12-16 hours, to obtain a result. This long wait time for the result creates many problems, including the generation of multi-drug resistant organisms (MDROs). At the same time, infected bloodstream usually contains a very low concentration of bacteria, i.e., lower than 5 CFU/mL. The long diagnosis time and the extremely low concentration of bacteria in the infected bloodstream make such infections difficult to diagnose. Here, we demonstrate a culture-free approach for the diagnosis of bloodstream infections using a …
An Analytical Methodology To Security Constraints Management In Power System Operation, Shubo Zhang
An Analytical Methodology To Security Constraints Management In Power System Operation, Shubo Zhang
ETD Archive
In a deregulated electricity market, Independent System Operators (ISOs) are responsible for dispatching power to the load securely, efficiently, and economically. ISO performs Security Constrained Unit Commitment (SCUC) to guarantee sufficient generation commitment, maximized social welfare and facilitating market-driven economics. A large number of security constraints would render the model impossible to solve under time requirements. Developing a method to identify the minimum set of security constraints without overcommitting is necessary to reduce Mixed Integer Linear Programming (MILP) solution time. To overcome this challenge, we developed a powerful tool called security constraint screening. The proposed approach effectively filters out non-dominating …
Control Of Rigid Robots With Large Uncertainties Using The Function Approximation Technique, Donald Ebeigbe
Control Of Rigid Robots With Large Uncertainties Using The Function Approximation Technique, Donald Ebeigbe
ETD Archive
This dissertation focuses on the control of rigid robots that cannot easily be modeled due to complexity and large uncertainties. The function approximation technique (FAT), which represents uncertainties as finite linear combinations of orthonormal basis functions, provides an alternate form of robot control - in situations where the dynamic equation cannot easily be modeled - with no dependency on the use of model information or training data. This dissertation has four aims - using the FAT - to improve controller efficiency and robustness in scenarios where reliable mathematical models cannot easily be derived or are otherwise unavailable. The first aim …
Robust Impedance Control Of A Four Degree Of Freedom Exercise Robot, Santino Joseph Bianco
Robust Impedance Control Of A Four Degree Of Freedom Exercise Robot, Santino Joseph Bianco
ETD Archive
The CSU 4OptimX exercise robot provides a platform for future research into advanced exercise and rehabilitation. The robot and its control system will autonomously modify reference trajectories and impedances on the basis of an optimization criterion and physiological feedback. To achieve this goal, a robust impedance control system with trajectory tracking must be implemented as the foundational control scheme. Two control laws will be compared, sliding mode and H-infinity control. The above robust control laws are combined with underlying impedance control laws to overcome uncertain plant model parameters and disturbance anomalies affecting the input signal. The sliding mode control law …
Human Activity Tracking And Recognition Using Kinect Sensor, Roanna Lun
Human Activity Tracking And Recognition Using Kinect Sensor, Roanna Lun
ETD Archive
The objective of this dissertation research is to use Kinect sensor, a motion sensing input device, to develop an integrated software system that can be used for tracking non-compliant activity postures of consented health-care workers for assisting the workers' compliance to best practices, allowing individualized gestures for privacy-aware user registration, movement recognition using rule-based algorithm, real-time feedback, and exercises data collection. The research work also includes developing a graphical user interface and data visualization program for illustrating statistical information for administrator, as well as utilizing cloud based database system used for data resource.
A Transformative Process Control Solution, Simone Castanho Nobrega De Almedia Soares
A Transformative Process Control Solution, Simone Castanho Nobrega De Almedia Soares
ETD Archive
Knowing that a technology invented almost hundred years ago (PID controller) is still dominating industrial process control, a historical review was done to understand how the control field evolved. Model dependency and high level of mathematics appear as the main reasons that prevent other technologies from penetrating the engineering practice. A relatively novel methodology introduced by J. Han in 1998 called Active Disturbance Rejection Control (ADRC) came with characteristics that matches process control needs and restrictions on model dependency. This study will present a transformative solution for process control based on that. The control algorithm is designed and discretized for …
School Logo Cleveland State University Logo Title Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
School Logo Cleveland State University Logo Title Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
ETD Archive
We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to …
Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
ETD Archive
We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to …
Maintaining Parallel Realities In Cqrs And Event Sourcing, Ehren Thomas Eschmann
Maintaining Parallel Realities In Cqrs And Event Sourcing, Ehren Thomas Eschmann
ETD Archive
In today’s distributed software ecosystem, we have witnessed a broad exhibition of notable approaches to software architecture. Traditionally, these approaches have centered around persisting a system’s current state. Rather than adhere to these criteria, two modern architectures, Command Query Responsibility Segregation (CQRS) and Event Sourcing have inspired us to persist the interactions of the software actor as replayable events which describe the history of their input data.
While CQRS and Event Sourcing allow for considerable benefits in many types of
systems, maintaining parallel realities (multiple snapshots of history deriving from a single parent history) is generally regarded as too complex …
Design And Control Of Electronic Motor Drives For Regenerative Robotics, Taylor Barto
Design And Control Of Electronic Motor Drives For Regenerative Robotics, Taylor Barto
ETD Archive
Two regenerative motor drives, a voltage source converter and a bidirectional buck/boost converter, are studied for energy regeneration and joint trajectory tracking. The motor drives are applied to two different robotic systems—a PUMA560 robotic arm and a hip testing robot / prosthesis system. An artificial neural network controller is implemented with the two motor drives and provides joint trajectory tracking with an RMS error of 0.03 rad. The control signals produced by the artificial neural network contain a large amount of high frequency content which prevents practical implementation. A robust passivity-based motion controller is modified to include information about the …
Derivative-Free Kalman Filter-Based Control Of Nonlinear Systems With Application To Transfemoral Prostheses, S. Mahmoud Moosavi
Derivative-Free Kalman Filter-Based Control Of Nonlinear Systems With Application To Transfemoral Prostheses, S. Mahmoud Moosavi
ETD Archive
Derivative-free Kalman filtering (DKF) for estimation-based control of a special class of nonlinear systems is presented. The method includes a standard Kalman filter for the estimation of both states and unknown inputs, and a nonlinear system that is transformed to controllable canonical state space form through feedback linearization (FL). A direct current (DC) motor with an input torque that is a nonlinear function of the state is considered as a case study for a nonlinear single-input-single-output (SISO) system. A three degree-of-freedom (DOF) robot / prosthesis system, which includes a robot that emulates human hip and thigh motion and a powered …
Advanced Line-Follower Robot, Lei Wang
Advanced Line-Follower Robot, Lei Wang
ETD Archive
In this research, an Advanced Line-follower Robot (ALFR) was designed and built. The ALFR mainly consists of the sensor array (QTR-8A), the high-performance microchips (TMS320f28335, TMS320f28069) and two motors (BLY172S-24V-4000). The ALFR keeps the basic function of the Line-follower Robot (LFR) but applies more advanced control theories, such as Proportional Integral Derivative (PID), Active Disturbance Rejection Control (ADRC) and Iterative Learning Control (ILC). PID and ADRC have been tested in the ALFR. The ALFR control problems and the results have been discussed in this thesis. Suggestions are also provided for research on unsolved problems. In particular, the mathematical models of …
Experimental Verification Of A Generalized Control Method For Constant Switching Frequency Three Phase Pwm Boost Rectifier Under Extremely Unbalanced Operating Conditions, Divin Sujatha Krishnan
Experimental Verification Of A Generalized Control Method For Constant Switching Frequency Three Phase Pwm Boost Rectifier Under Extremely Unbalanced Operating Conditions, Divin Sujatha Krishnan
ETD Archive
This thesis presents experimental verification of a generalized control method for constant switching frequency Three-phase PWM Boost Type Rectifier under extremely unbalanced operating conditions in the power system. In this model, a hysteresis current controller has been implemented using a high-speed micro-controller to generate the gate signals. Even though a constant switching frequency was achieved in the previous model, while in simulation using MATLAB/Simulink, it wasn’t achieved experimentally due to the low processing speed of the DSpace processor ds1104. This problem has been resolved by using the “C2000 Delfino MCUs F28377S Launchpad ” from Texas Instruments to implement Hysteresis Current …
Information Driven Control Design: A Case For Pmsm Control, Han Zhang
Information Driven Control Design: A Case For Pmsm Control, Han Zhang
ETD Archive
The key problem in control system design was the selection and processing of information. The first part was to collect some system dynamics offline or online in a cost-effective manner and use them in the controller design effectively. Next was to minimize the phase lag in the feedback loop to ensure best performance and stability. A systematic information-driven design strategy was discussed. A few key problems in permanent magnet synchronous motor control were taken in a case study: the current loop and decoupling, velocity loop with position feedback and position estimation at low speed. An active disturbance rejection based integrated …
Assembly Level Clock Glitch Insertion Into An Xmega Mcu, Nigamantha Gopala Chakravarthi
Assembly Level Clock Glitch Insertion Into An Xmega Mcu, Nigamantha Gopala Chakravarthi
ETD Archive
This thesis proposes clock-glitch fault injection technique to inject glitches into the clock signal running in a microcontroller unit and studying its effects on different assembly level instructions. It focusses mainly on the effect of clock glitches over the execution, sub-execution and pre-execution cycles of the test instructions and also finds the delay between the actual position of glitch insertion and the trigger being set for the glitch insertion. The instructions used in this work are provided by Atmel which classifies them according to their type of operation. These instructions are here further grouped depending on the number of clock …
A Generalized Control Method For Constant Switching Frequency Three Phase Pwm Boost Rectifier Under Extreme Unbalanced Operation Condition, Abhishek Kumar Upadhyay
A Generalized Control Method For Constant Switching Frequency Three Phase Pwm Boost Rectifier Under Extreme Unbalanced Operation Condition, Abhishek Kumar Upadhyay
ETD Archive
This thesis presents a generalized control method for constant switching frequency PWM Boost Type Rectifier under extremely unbalanced operating conditions in the power system. The proposed analytical method is verified by using MATLAB/ Simulink model developed under severe unbalanced conditions of input source voltages and input impedances. The closed loop control method for controlling the output DC voltage is also presented and verified by using MATLAB/Simulink model. An experimental model is built to prove the feasibility of the proposed constant switching frequency operation of the PWM Boost Type Rectifier under extreme unbalanced operation conditions by using DSPACE RT1104 digital control …
High Speed Clock Glitching, Santosh Desiraju
High Speed Clock Glitching, Santosh Desiraju
ETD Archive
In recent times, hardware security has drawn a lot of interest in the research community. With physical proximity to the target devices, various fault injection hardware attack methods have been proposed and tested to alter their functionality and trigger behavior not intended by the design. There are various types of faults that can be injected depending on the parameters being used and the level at which the device is tampered with. The literature describes various fault models to inject faults in clock of the target but there are no publications on overclocking circuits for fault injection. The proposed method bridges …
The Design And Implementation Of A Kinect-Based Rehabilitation Exercise Monitoring And Guidance System, Hai Feng
ETD Archive
In preventive and rehabilitative healthcare, physical exercise is a powerful intervention. However, a program may require in the range of thousands of practice repetitions, and many people do not adhere to the program or perform their home exercises incorrectly, making the exercise ineffective, or even dangerous. This thesis research aims to develop a Kinect-based system for rehabilitation exercises monitoring and guidance. In the first step, a feasibility study was carried out on using Kinect for realtime monitoring of rehabilitation exercises while a multi-camera motion tracking system was used to establish the ground truth. In the second step, a Unity-based system …
Application Aware For Byzantine Fault Tolerance, Hua Chai
Application Aware For Byzantine Fault Tolerance, Hua Chai
ETD Archive
Driven by the need for higher reliability of many distributed systems, various replication-based fault tolerance technologies have been widely studied. A prominent technology is Byzantine fault tolerance (BFT). BFT can help achieve high availability and trustworthiness by ensuring replica consistency despite the presence of hardware failures and malicious faults on a small portion of the replicas. However, most state-of-the-art BFT algorithms are designed for generic stateful applications that require the total ordering of all incoming requests and the sequential execution of such requests. In this dissertation research, we recognize that a straightforward application of existing BFT algorithms is often inappropriate …
Biogeography-Based Optimization For Combinatorial Problems And Complex Systems, Dawei Du
Biogeography-Based Optimization For Combinatorial Problems And Complex Systems, Dawei Du
ETD Archive
Biogeography-based optimization (BBO) is a heuristic evolutionary algorithm that has shown good performance on many problems. In this dissertation, three problem1s 1 are researched for BBO: convergence speed and optimal solution convergence of BBO,1 1BBO application to combinatorial problems, and BBO application to complex systems. The first problem is to analyze BBO from two perspectives: how the components of BBO affect its convergence speed and the reason that BBO converges to the optimal solution. For the first perspective, which is convergence speed, we analyze the two essential components of BBO -- population construction and information sharing. For the second perspective, …
Oppositional Biogeography-Based Optimization, Mehmet Ergezer
Oppositional Biogeography-Based Optimization, Mehmet Ergezer
ETD Archive
This dissertation outlines a novel variation of biogeography-based optimization (BBO), which is an evolutionary algorithm (EA) developed for global optimization. The new algorithm employs opposition-based learning (OBL) alongside BBO migration to create oppositional BBO (OB BO). Additionally, a new opposition method named quasi-reflection is introduced. Quasireflection is based on opposite numbers theory and we mathematically prove that it has the highest expected probability of being closer to the problem solution among all OBL methods that we explore. Performance of quasi-opposition is validated by mathematical analysis for a single-dimensional problem and by simulations for higher dimensions. Experiments are performed on benchmark …
Byzantine Fault Tolerance For Distributed Systems, Honglei Zhang
Byzantine Fault Tolerance For Distributed Systems, Honglei Zhang
ETD Archive
The growing reliance on online services imposes a high dependability requirement on the computer systems that provide these services. Byzantine fault tolerance (BFT) is a promising technology to solidify such systems for the much needed high dependability. BFT employs redundant copies of the servers and ensures that a replicated system continues providing correct services despite the attacks on a small portion of the system. In this dissertation research, I developed novel algorithms and mechanisms to control various types of application nondeterminism and to ensure the long-term reliability of BFT systems via a migration-based proactive recovery scheme. I also investigated a …
Biogeography-Based Optimization Of A Variable Camshaft Timing System, George L. Thomas
Biogeography-Based Optimization Of A Variable Camshaft Timing System, George L. Thomas
ETD Archive
Automotive system optimization problems are difficult to solve with traditional optimization techniques because the optimization problems are complex, and the simulations are computationally expensive. These two characteristics motivate the use of evolutionary algorithms and meta-modeling techniques respectively. In this work, we apply biogeography-based optimization (BBO) to radial basis function (RBF)-based lookup table controls of a variable camshaft timing system for fuel economy optimization. Also, we reduce computational search effort by finding an effective parameterization of the problem, optimizing the parameters of the BBO algorithm for the problem, and estimating the cost of a portion of the candidate solutions in BBO …
Laboratory Measurements Of The Deep Venusian Atmosphere, Timothy J. Palinski
Laboratory Measurements Of The Deep Venusian Atmosphere, Timothy J. Palinski
ETD Archive
NASA Glenn Research Center has designed and built a test chamber that can recreate the hot, dense atmospheric conditions of the deep Venusian atmosphere, where pressures range as high as 92 atmospheres and temperatures as high as 740 K. The majority of this thesis lies in experimentally measuring and quantifying the infrared absorption of CO2 at Venus-like conditions in this laboratory setting. In particular, we describe the challenges and solutions involved in achieving repeatable laboratory test conditions, as well as the iterative process of modifying/optimizing our experimental test setup, including proposed future improvements. We discuss our measured CO2 absorption spectra, …
Tcp Ftat (Fast Transmit Adaptive Transmission): A New End-To-End Congestion Control Algorithm, Mohammed Ahmed Melegy Mohammed Afifi
Tcp Ftat (Fast Transmit Adaptive Transmission): A New End-To-End Congestion Control Algorithm, Mohammed Ahmed Melegy Mohammed Afifi
ETD Archive
Congestion Control in TCP is the algorithm that controls allocation of network resources for a number of competing users sharing a network. The nature of computer networks, which can be described from the TCP protocol perspective as unknown resources for unknown traffic of users, means that the functionality of the congestion control algorithm in TCP requires explicit feedback from the network on which it operates. Unfortunately this is not the way it works with TCP, as one of the fundamental principles of the TCP protocol is to be end-to-end, in order to be able to operate on any network, which …
Electrostatically Controlled Enzymatic Reaction, Metabolic Processes And Microbial Generation Of Electric Power, Yang Song
ETD Archive
This thesis shows that electric fields can be used to control electron transport in biological systems and improve the performance of biological devices using an external gating voltage. It has recently been shown that an ultrasensitive detection method based on electric field effect can be used to control the kinetics of enzymatic conversion of glucose. The first part of the thesis is a mechanistic study of the enzyme catalyzed conversion of glucose to gluconolactone using the field effect enzymatic detection (FEED) technique. Use of a voltage controlled enzymatic system decreased electrons tunnel between electrode and active center of glucose oxidase …
Program Verification Of Freertos Using Microsoft Dafny, Matthew J. Matias
Program Verification Of Freertos Using Microsoft Dafny, Matthew J. Matias
ETD Archive
FreeRTOS is a popular real-time and embedded operating system. Real-time software requires code reviews, software tests, and other various quality assurance activities to ensure minimal defects. This free and open-source operating system has claims of robustness and quality [26]. Real-time and embedded software is found commonly in systems directly impacting human life and require a low defect rate. In such critical software, traditional quality assurance may not suce in minimizing software defects. When traditional software quality assurance is not enough for defect removal, software engineering formal methods may help minimize defects. A formal method such as program verication is useful …
Bio-Inspired Optimization Of Ultra-Wideband Patch Antennas Using Graphics Processing Unit Acceleration, Brian Vyhnalek
Bio-Inspired Optimization Of Ultra-Wideband Patch Antennas Using Graphics Processing Unit Acceleration, Brian Vyhnalek
ETD Archive
Ultra-wideband (UWB) wireless systems have recently gained considerable attention as effective communications platforms with the properties of low power and high data rates. Applications of UWB such as wireless USB put size constraints on the antenna, however, which can be very dicult to meet using typical narrow band antenna designs. The aim of this thesis is to show how bio-inspired evolutionary optimization algorithms, in particular genetic algorithm (GA), particle swarm optimization (PSO) and biogeography-based optimization (BBO) can produce novel UWB planar patch antenna designs that meet a size constraint of a 10 mm 10 mm patch. Each potential antenna design …
Application Of Sliding Mode Controller And Linear Active Disturbance Rejection Controller To A Pmsm Speed System, Yang Zhao
ETD Archive
Permanent magnet synchronous motor (PMSM) is a popular electric machine in industry for its small volume, high electromagnetic torque, high reliability and low cost. It is broadly used in automobiles and aircrafts. However, PMSM has its inherent problems of nonlinearity and coupling, which are challenges for control systems design. In addition, the external disturbances such as load variation and noises could degrade the systems performance. Both sliding mode control (SMC) and active disturbance rejection control (ADRC) are robust against disturbances. They can also compensate the nonlinearity and couplings of the PMSM. Therefore, in this thesis, we apply both SMC and …
Increased Capacity For Vdl Mode 2 Aeronautical Data Communication, Sanjin Đerić
Increased Capacity For Vdl Mode 2 Aeronautical Data Communication, Sanjin Đerić
ETD Archive
VDL Mode 2 is the principal data communication technology for aeronautical communications implemented in the NextGen project for the National Airspace System (NAS), with potentially worldwide service. Aeronautical communications have strict transmission delay standards for safety considerations. Meeting the strict standards significantly drops the capacity of the number of aircraft that can communicate using the Very High Frequency (VHF) Data Radio (VDR). In this thesis, three methods of increasing the capacity while maintaining the strict standards are evaluated: transmit power control, load regulation and ground station placement. A simulation model using OPNET software is used for testing. Load regulation shows …