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Full-Text Articles in Engineering
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 …
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 …
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 Simulation And Experimental Study Of Active Disturbance Rejection For Industrial Pressure Control, Xiaoxu Li
A Simulation And Experimental Study Of Active Disturbance Rejection For Industrial Pressure Control, Xiaoxu Li
ETD Archive
The quality of control loop is very important in hydraulic machineries, where pressure must be accurately regulated in the presence of various disturbances. Proportional-Integral-Derivative (PID) control has dominated the industry for a long time and it is by far the most popular general purpose controller for pressure control. The purpose of this study is to conduct a simulation and experimental study comparing PID with an emerging new technology, namely active disturbance rejection control (ADRC). For the purpose of this study, an experimental testbed similar to those used in industry settings is used; its mathematic model is derived and used in …
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, …
Hardware Implementation Of Active Disturbance Rejection Control For Vibrating Beam Gyroscope, David Avanesian
Hardware Implementation Of Active Disturbance Rejection Control For Vibrating Beam Gyroscope, David Avanesian
ETD Archive
Obtaining the approximation of rotation rate form a Z-Axis MEMS gyroscope is a challenging problem. Currently, most commercially available MEMS gyroscopes are operating in an open-loop for purposes of simplicity and cost reduction. However, MEMS gyroscopes are still fairly expensive and are not robust during operation. The purpose of this research was to develop a high-performance and low-cost MEMS gyroscope using analog Active Disturbance Rejection Control (ADRC) system. By designing and implementing analog ADRC both above requirements were satisfied. Analog ADRC provides the fastest response time possible (because the circuit is analog), eliminates both internal and external disturbances, and increases …