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Full-Text Articles in Engineering

Vertical Take-Off And Landing Control Via Dual-Quaternions And Sliding Mode, Joshua Sonderegger Apr 2022

Vertical Take-Off And Landing Control Via Dual-Quaternions And Sliding Mode, Joshua Sonderegger

PhD Dissertations and Master's Theses

The landing and reusability of space vehicles is one of the driving forces into renewed interest in space utilization. For missions to planetary surfaces, this soft landing has been most commonly accomplished with parachutes. However, in spite of their simplicity, they are susceptible to parachute drift. This parachute drift makes it very difficult to predict where the vehicle will land, especially in a dense and windy atmosphere such as Earth. Instead, recent focus has been put into developing a powered landing through gimbaled thrust. This gimbaled thrust output is dependent on robust path planning and controls algorithms. Being able to ...


Stochastic Model Predictive Control Via Fixed Structure Policies, Elias Wilson Apr 2022

Stochastic Model Predictive Control Via Fixed Structure Policies, Elias Wilson

PhD Dissertations and Master's Theses

In this work, the model predictive control problem is extended to include not only open-loop control sequences but also state-feedback control laws by directly optimizing parameters of a control policy. Additionally, continuous cost functions are developed to allow training of the control policy in making discrete decisions, which is typically done with model-free learning algorithms. This general control policy encompasses a wide class of functions and allows the optimization to occur both online and offline while adding robustness to unmodelled dynamics and outside disturbances. General formulations regarding nonlinear discrete-time dynamics and abstract cost functions are formed for both deterministic and ...


Forward Kinematics And Control Of A Segmented Tunable-Stiffness 3-D Continuum Manipulator, Shivangi Misra, Cynthia Sung Jan 2022

Forward Kinematics And Control Of A Segmented Tunable-Stiffness 3-D Continuum Manipulator, Shivangi Misra, Cynthia Sung

Lab Papers (GRASP)

In this work, we consider the problem of controlling the end effector position of a continuum manipulator through local stiffness changes. Continuum manipulators offer the advantage of continuous deformation along their lengths, and recent advances in smart material actuators further enable local compliance changes, which can affect the manipulator's bulk motion. However, leveraging local stiffness change to control motion remains lightly explored. We build a kinematic model of a continuum manipulator as a sequence of segments consisting of symmetrically arranged springs around the perimeter of every segment, and we show that this system has a closed form solution to ...


Modeling, Simulation, And Hardware-In-The-Loop Implementation Of Distributed Voltage Control In Power Systems With Renewable Energy Sources, Ali Dehghan Banadaki Jan 2022

Modeling, Simulation, And Hardware-In-The-Loop Implementation Of Distributed Voltage Control In Power Systems With Renewable Energy Sources, Ali Dehghan Banadaki

Graduate Theses, Dissertations, and Problem Reports

This dissertation develops and analyzes distributed controllers for power systems with renewable energy sources. A comprehensive state space modeling of voltage source inverters (VSIs) is developed specifically to address the secondary voltage control. This model can be used for simulation and control design. Unlike frequency, voltage is a local phenomenon, meaning that it cannot be controlled from a far distance. Therefore, a voltage zoning matrix that relates the sensitivity of the loads to the sources is proposed. The secondary voltage control is designed by applying the eigenvalue decomposition of the voltage zoning matrix to obtain the reference generators voltages. The ...


Constrained Nonlinear Heuristic-Based Mpc For Control Of Robotic Systems With Uncertainty, Tyler James Quackenbush Nov 2021

Constrained Nonlinear Heuristic-Based Mpc For Control Of Robotic Systems With Uncertainty, Tyler James Quackenbush

Theses and Dissertations

This thesis focuses on the development and extension of nonlinear evolutionary model predictive control (NEMPC), a control algorithm previously developed by Phil Hyatt of the BYU RaD Lab. While this controller and its variants are applicable to any high degree-of-freedom (DoF) robotic system, particular emphasis is given in this thesis to control of a soft robot continuum joint. First, speed improvements are presented for NEMPC. Second, a Python package is presented as a companion to NEMPC, as a method of establishing a common interface for dynamic simulators and approximating each system by a deep neural network (DNN). Third, a method ...


Data-Driven Learning For Robot Physical Intelligence, Leidi Zhao Aug 2021

Data-Driven Learning For Robot Physical Intelligence, Leidi Zhao

Dissertations

The physical intelligence, which emphasizes physical capabilities such as dexterous manipulation and dynamic mobility, is essential for robots to physically coexist with humans. Much research on robot physical intelligence has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. In this dissertation, a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation is proposed. This method tackles ...


Control Of Series Connected Battery Powered Modules, Joshua K. Wooten Aug 2021

Control Of Series Connected Battery Powered Modules, Joshua K. Wooten

All Graduate Theses and Dissertations

Batteries are a very common type of power source used for all sorts of applications. However, these batteries do not last forever. The purpose of this thesis is to explain and implement a strategy which allows batteries to have a second life; to be able to be re-charged and re-used for another set period of time once they no longer meet a system’s requirements. The preferable way to do this is to make each cell have the same state of charge (SOC) which will lead to a longer lasting battery pack. These batteries will be hooked up to a ...


Active Stability Monitoring And Stability Control Of Dc Microgrids Using Incremental Continuous Injection, Rohail Hassan Aug 2021

Active Stability Monitoring And Stability Control Of Dc Microgrids Using Incremental Continuous Injection, Rohail Hassan

All Graduate Theses and Dissertations

Electrified transportation and integration of renewable energy in the electric power grid requires the use of power electronic converters for integrating different forms of power; from ac to dc, dc to ac, dc to dc, etc. Recent trend towards electrifying automobiles, aircraft and ships, and increasing penetration of renewable energy has increased the required power levels and number of the power electronics converters connected together in a dc microgrid system. Stable operation of these interfacing converters for all operating conditions has been a topic of renewed interest in the last couple of decades. Traditionally, dc microgrids have been designed conservatively ...


Direct Torque Control For Silicon Carbide Motor Drives, Mohammad Hazzaz Mahmud Jul 2021

Direct Torque Control For Silicon Carbide Motor Drives, Mohammad Hazzaz Mahmud

Graduate Theses and Dissertations

Direct torque control (DTC) is an extensively used control method for motor drives due to its unique advantages, e.g., the fast dynamic response and the robustness against motor parameters variations, uncertainties, and external disturbances. Using higher switching frequency is generally required by DTC to reduce the torque ripples and decrease stator current total harmonic distortion (THD), which however can lower the drive efficiency. Through the use of the emerging silicon carbide (SiC) devices, which have lower switching losses compared to their silicon counterparts, it is feasible to achieve high efficiency and low torque ripple simultaneously for DTC drives.

To ...


Formulación De Lineamientos Para La Evaluación Control Y Seguimiento Ambiental De Los Proyectos Turísticos Especiales De Gran Escala En Colombia, Juliana Andrea Moreno Granados, Luz Angelica Olave Hurtado, Ingrid Dayanna Parra Espinosa Jun 2021

Formulación De Lineamientos Para La Evaluación Control Y Seguimiento Ambiental De Los Proyectos Turísticos Especiales De Gran Escala En Colombia, Juliana Andrea Moreno Granados, Luz Angelica Olave Hurtado, Ingrid Dayanna Parra Espinosa

Ingeniería Ambiental y Sanitaria

El presente trabajo de investigación tiene como fin la formulación de lineamientos para la evaluación, control y seguimiento ambiental de los Proyectos Turísticos Especiales de Gran Escala (PTE) en Colombia, para ello la investigación se desarrolló en tres fases. En la primera, el Diagnostico Preliminar, se identificaron las características y requerimientos ambientales exigibles de tres proyectos turísticos en Colombia, estos son: el Parque Nacional del Café (Quindío), Parque Temático Hacienda Nápoles (Antioquia) y Parque Nacional del Chicamocha – PANACHI (Santander) los cuales presentan un impacto socioeconómico y reconocimiento en el sector turístico. En la segunda fase, denominada Evaluación de Lineamientos del ...


The Impact Of User Control And Transparency In App Design On Privacy Concerns And Behavior Of Mobile App Users, Arwa Alawajy Jun 2021

The Impact Of User Control And Transparency In App Design On Privacy Concerns And Behavior Of Mobile App Users, Arwa Alawajy

Dissertations, Theses, and Capstone Projects

Mobile apps have unprecedented access to sensitive personal information. The increasing commodification of mobile-user data motivates us to explore the vital role of app developers in protecting users’ privacy. This dissertation examines the privacy of mobile app users from the perspective of HCI. According to Communication Privacy Management (CPM) theory, people believe they own their personal information and have the right to control how or with whom they share this information. In practice, individuals manage their privacy system and the boundaries between the public and private domain. Users make privacy disclosure decisions according to their individual characteristics and the perceptions ...


A Dynamic System Testbed To Facilitate Controller And Estimator Designs And Its Application To Neoclassical Controllers, Justin James Kennah Apr 2021

A Dynamic System Testbed To Facilitate Controller And Estimator Designs And Its Application To Neoclassical Controllers, Justin James Kennah

Master's Theses (2009 -)

This thesis proposes a testbed capable of validating experimental controller designs.Because it is undesirable to implement unvalidated controller designs on physical hardware, the need for an effective testbed arises. For the testbed to be useful, it should be easy to use and contain all the hardware and software necessary to implement a controller and analyze its response. To accomplish these goals, a testbed is created by joining the National Instruments ELVIS III board with the Quanser Controls Board. Three controllers are implemented to evaluate the usefulness of the testbed. The controllers are designed using the neoclassical design technique. The ...


On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae Mar 2021

On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae

Electrical and Computer Engineering Faculty Publications

Advances in machine learning technologies in recent years have facilitated developments in autonomous robotic systems. Designing these autonomous systems typically requires manually specified models of the robotic system and world when using classical control-based strategies, or time consuming and computationally expensive data-driven training when using learning-based strategies. Combination of classical control and learning-based strategies may mitigate both requirements. However, the performance of the combined control system is not obvious given that there are two separate controllers. This paper focuses on one such combination, which uses gravity-compensation together with reinforcement learning (RL). We present a study of the effects of gravity ...


Adaptive Augmentation Of Non-Minimum Phase Flexible Aerospace Systems, Michael A. Dupuis Mar 2021

Adaptive Augmentation Of Non-Minimum Phase Flexible Aerospace Systems, Michael A. Dupuis

PhD Dissertations and Master's Theses

This work demonstrates the efficacy of direct adaptive augmentation on a robotic flexible system as an analogue of a large flexible aerospace structure such as a launch vehicle or aircraft. To that end, a robot was constructed as a control system testbed. This robot, named “Penny,” contains the command and data acquisition capabilities necessary to influence and record system state data, including the flex states of its flexible structures. This robot was tested in two configurations, one with a vertically cantilevered flexible beam, and one with a flexible inverted pendulum (a flexible cart-pole system). The physical system was then characterized ...


Distributed, Scalable And Resilient Information Acquisition For Multi-Robot Teams, Brent Schlotfeldt Jan 2021

Distributed, Scalable And Resilient Information Acquisition For Multi-Robot Teams, Brent Schlotfeldt

Publicly Accessible Penn Dissertations

Advances in robotic mobility and sensing technology have the potential to provide newcapabilities in a wide variety of information acquisition problems including environmental monitoring, structure inspection, localization and mapping of unknown environments, and search and rescue, amongst many others. In particular, teams composed of multiple robots have shown great potential in solving these problems, though it is challenging to design efficient algorithms that are distributed and scale well, and even more complex in hazardous or challenging environments. The purpose of this dissertation is to provide novel algorithms to the capabilities of multi-robot teams to gather information which are distributed, scalable ...


Icts For Surveillance And Suppression: The Case Of The Indian Emergency 1975-1977, Ramesh Subramanian Jan 2021

Icts For Surveillance And Suppression: The Case Of The Indian Emergency 1975-1977, Ramesh Subramanian

Journal of International Technology and Information Management

Information and Communications technologies (ICT) pervade society. The Internet, wireless communication, and social media are ubiquitous in and indispensable in society today. As they continue to grow and mushroom, there are new and increased calls from various segments of the society such as technologists, activists, sociologists, and legal experts, who issue warnings on the more nefarious and undesirable uses of ICTs, especially by governments. In fact, government control and surveillance using ICTs is not a new phenomenon. By looking at history, we are able to see several instances when ICTs have been used by governments to control, surveil, and infringe ...


Analyzing And Improving Calculation And Tuning Process For A Uav, Laurel Wardell Jan 2021

Analyzing And Improving Calculation And Tuning Process For A Uav, Laurel Wardell

Williams Honors College, Honors Research Projects

The nature of this project is confidential and cannot be disclosed in detail. Generally, this project deals with the analysis of a control system of a UAV with several electric motors and gimbals. The goal of this analysis is to improve control calculations for increased stability. In addition, development has been started on an application to streamline the tuning of gains for this particular controller, allowing for more efficient use of precious flight time.


Analysis Of Three-Phase Rectifier Via Three Different Control Methods And Switch Power Loss Comparison, Yichao Wang Jan 2021

Analysis Of Three-Phase Rectifier Via Three Different Control Methods And Switch Power Loss Comparison, Yichao Wang

All Graduate Theses, Dissertations, and Other Capstone Projects

Traditional uncontrolled or phase-controlled rectifiers have the defects of lower power factor and nontrivial higher harmonics which causes the low efficiency of power, bad power quality, and so on. However, PWM rectifiers overcome the drawbacks mentioned above. They reduce the higher harmonics yielding better sinusoidal current on the grid side, achieve unity power factor and bidirectional power flow, and have better dynamic performance. So, it is favored more by academia and widely applied in high-performance power electronics devices. In this paper, the PWM rectifier is analyzed and a comparison of the switch loss on three-phase rectifier using three different control ...


Control Synthesis For Parametric Timed Automata Under Reachability, Ebru Aydin Göl Jan 2021

Control Synthesis For Parametric Timed Automata Under Reachability, Ebru Aydin Göl

Turkish Journal of Electrical Engineering and Computer Sciences

Timed automata is a fundamental modeling formalism for real-time systems. During the design of such real-time systems, often the system information is incomplete, and design choices can vary. These uncertainties can be integrated to the model via parameters and labelled transitions. Then, the design can be completed by tuning the parameters and restricting the transitions via controller synthesis. These problems, namely parameter synthesis and controller synthesis, are studied separately in the literature. Herein, these are combined to generate an automaton satisfying the given specification by both parameter tuning and controller synthesis, thus exploring all design choices. First, it is shown ...


Adaptive Control And Parameter-Dependent Anti-Windup Compensation For Inertia Varying Quadcopters., Benjamin Edwards Farber Jan 2021

Adaptive Control And Parameter-Dependent Anti-Windup Compensation For Inertia Varying Quadcopters., Benjamin Edwards Farber

Electronic Theses and Dissertations

A novel parameter-dependent anti-windup compensator is developed to improve the performance of a saturation constrained model reference adaptive controller. The combined control structure solves the input saturation and stability problem for inertia varying quadcopters. The control synthesis follows the conventional two-step anti-windup design paradigm where a nominal controller is designed without consideration of the input saturation, and the anti-windup compensator is designed to minimize deviations from nominal performance caused by saturated inputs. To account for varying inertia of the quadcopter during package retrieval/delivery routines, the inertia parameters of the vehicle/package are estimated with an online recursive system identification ...


Process Modeling And Techno-Economic Analysis Of Micro- Encapsulated Carbon Sorbents (Mecs) For Co2 Capture In A Fixed Bed And Moving Bed Reactors, Goutham Kotamreddy Jan 2021

Process Modeling And Techno-Economic Analysis Of Micro- Encapsulated Carbon Sorbents (Mecs) For Co2 Capture In A Fixed Bed And Moving Bed Reactors, Goutham Kotamreddy

Graduate Theses, Dissertations, and Problem Reports

Carbon capture, utilization, and storage (CCUS) is seen as a suite of technologies to curb the carbon dioxide emissions from the atmosphere and plays a crucial role to meet the net zero emissions target for many countries by 2050. One of the major sources for CO2 emissions is combustion of fossil fuels. Various innovative capture technologies are being explored because the state-of-the-art monoethanolamine (MEA) based carbon capture technology has drawbacks such as corrosion, energy penalty. There are several potential solvents that have lower energy penalty, but they are highly viscous or may turn into solid phase in the absorber ...


An Integrated Cyber-Physical Simulation Environment For Smart Grid Applications, Yuxin Wan, Junwei Cao, Shuqing Zhang, Guoyu Tu, Chao Lu, Xingtao Xu, Keqin Li Nov 2020

An Integrated Cyber-Physical Simulation Environment For Smart Grid Applications, Yuxin Wan, Junwei Cao, Shuqing Zhang, Guoyu Tu, Chao Lu, Xingtao Xu, Keqin Li

Tsinghua Science and Technology

The concept of Cyber-Physical Systems (CPSs), which combine computation, networking, and physical processes, is considered to be beneficial to smart grid applications. This study presents an integrated simulation environment to provide a unified platform for the investigation of smart grid applications involving power grid monitoring, communication, and control. In contrast to the existing approaches, this environment allows the network simulator to operate independently, importing its results to the power system simulation. This resolves conflicts between discrete event simulation and continuous simulation. In addition, several data compensation methods are proposed and investigated under different network delay conditions. A case study of ...


Telescope Parallel Actuator Mount: Control And Testing, Samuel S. Artho-Bentz Nov 2020

Telescope Parallel Actuator Mount: Control And Testing, Samuel S. Artho-Bentz

Master's Theses

This thesis approaches the task of designing a control system for the Parallel Actuator Mount developed by Dr. John Ridgely and Mr. Garrett Gudgel. It aims to create a base framework that directly controls the telescope and can be expanded to accept external command. It incorporates lower priced components and develops more easily approachable software with great functionality. An open-loop method for velocity control is established. Developing repeatable tests is a major focus. Testing finds the control methods developed result in velocity error of less than 5% and position error of less than 1.5% despite several mechanical issues and ...


Towards Real-Time Reinforcement Learning Control Of A Wave Energy Converter, Enrico Anderlini, Salman Husain, Gordon Parker, Mohammad Abusara, Giles Thomas Nov 2020

Towards Real-Time Reinforcement Learning Control Of A Wave Energy Converter, Enrico Anderlini, Salman Husain, Gordon Parker, Mohammad Abusara, Giles Thomas

Michigan Tech Publications

The levellised cost of energy of wave energy converters (WECs) is not competitive with fossil fuel-powered stations yet. To improve the feasibility of wave energy, it is necessary to develop effective control strategies that maximise energy absorption in mild sea states, whilst limiting motions in high waves. Due to their model-based nature, state-of-the-art control schemes struggle to deal with model uncertainties, adapt to changes in the system dynamics with time, and provide real-time centralised control for large arrays of WECs. Here, an alternative solution is introduced to address these challenges, applying deep reinforcement learning (DRL) to the control of WECs ...


Modeling And Analysis Of Single Phase Grid Connected Photovoltaic System, Swati Bhasme Sep 2020

Modeling And Analysis Of Single Phase Grid Connected Photovoltaic System, Swati Bhasme

International Journal of Power System Operation and Energy Management

This paper gives a complete computer simulation program of a single phase grid connected PV system using Matlab/Simulink and SimPower System tool in order to monitor the performance of each unit of the system during a selected day in the year representing a sunny day and another cloudy day using the hourly data of load demand, solar radiation and temperature at the college of Engineering, Pune site, as a case study. The system consists of a PV array subsystem as the primary source of energy, the electric grid as an auxiliary source of energy, the battery bank as a ...


Eco-Driving Systems For Connected Automated Vehicles: Multi-Objective Trajectory Optimization, Ke Huang, Xianfeng Yang Aug 2020

Eco-Driving Systems For Connected Automated Vehicles: Multi-Objective Trajectory Optimization, Ke Huang, Xianfeng Yang

Mineta Transportation Institute Publications

This study aims to leverage advances in connected automated vehicle (CAV) technology to design an eco-driving and platooning system that can improve the fuel and operational efficiency of vehicles during freeway driving. Following a two-stage control logic, the proposed algorithm optimizes CAVs’ trajectories with three objectives: travel time minimization, fuel consumption minimization, and traffic safety improvement. The first stage, designed for CAV trajectory planning, is carried out with two optimization models. The second stage, for real-time control purposes, is developed to ensure the operational safety of CAVs. Based on extensive numerical simulations, the results have confirmed the effectiveness of the ...


Robust Real-Time Model Predictive Control For High Degree Of Freedom Soft Robots, Phillip Edmond Hyatt Jun 2020

Robust Real-Time Model Predictive Control For High Degree Of Freedom Soft Robots, Phillip Edmond Hyatt

Theses and Dissertations

This dissertation is focused on the modeling and robust model-based control of high degree-of-freedom (DoF) systems. While most of the contributions are applicable to any difficult-to-model system, this dissertation focuses specifically on applications to large-scale soft robots because their many joints and pressures constitute a high-DoF system and their inherit softness makes them difficult to model accurately. First a joint-angle estimation and kinematic calibration method for soft robots is developed which is shown to decrease the pose prediction error at the end of a 1.5 m robot arm by about 85\%. A novel dynamic modelling approach which can be ...


Lawn Buddy, Jayson Johnston, Andrew Brown, Jacob Maljian Jun 2020

Lawn Buddy, Jayson Johnston, Andrew Brown, Jacob Maljian

Electrical Engineering

Grass lawns are a common hallmark of the American home. In 2019, a survey from the National Association of Landscape Professionals found that 81% of all Americans owned a lawn [1]. Mowing is a time consuming and costly chore that is part of maintaining a grass lawn. The manual labor in mowing a lawn can exceed 40 hours per year [2]. People commonly incur weekly costs on mowing services to save time. Traditional gas powered mowers are physically demanding and use engines that need routine maintenance. They operate loudly enough that users should be wearing hearing protection and the noise ...


Evaluating Driving Performance Of A Novel Behavior Planning Model On Connected Autonomous Vehicles, Keyur Shah May 2020

Evaluating Driving Performance Of A Novel Behavior Planning Model On Connected Autonomous Vehicles, Keyur Shah

Honors Scholar Theses

Many current algorithms and approaches in autonomous driving attempt to solve the "trajectory generation" or "trajectory following” problems: given a target behavior (e.g. stay in the current lane at the speed limit or change lane), what trajectory should the vehicle follow, and what inputs should the driving agent apply to the throttle and brake to achieve this trajectory? In this work, we instead focus on the “behavior planning” problem—specifically, should an autonomous vehicle change lane or keep lane given the current state of the system?

In addition, current theory mainly focuses on single-vehicle systems, where vehicles do not ...


Study Of A Symmetrical Llc Dual-Active Bridge Resonant Converter Topology For Battery Storage Systems, John K. George May 2020

Study Of A Symmetrical Llc Dual-Active Bridge Resonant Converter Topology For Battery Storage Systems, John K. George

Graduate Theses and Dissertations

A symmetrical LLC resonant converter topology with a fixed-frequency quasi-triple phase-shift modulation method is proposed for battery-powered electric traction systems with extensions to other battery storage systems. Operation of the converter with these methods yields two unique transfer characteristics and is dependent on the switching frequency. The converter exhibits several desirable features: 1) load-independent buck-boost voltage conversion when operated at the low-impedance resonant frequency, allowing for dc-link voltage regulation, zero-voltage switching across a wide load range, and intrinsic load transient resilience; 2) power flow control when operated outside the low-impedance resonance for integrated battery charging; 3) and simple operational mode ...