Open Access. Powered by Scholars. Published by Universities.®

Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

Control

Discipline
Institution
Publication Year
Publication
Publication Type
File Type

Articles 1 - 30 of 431

Full-Text Articles in Engineering

A Comparative Analysis Of Reinforcement Learning Applied To Task-Space Reaching With A Robotic Manipulator With And Without Gravity Compensation, Jonathan Fugal Jan 2020

A Comparative Analysis Of Reinforcement Learning Applied To Task-Space Reaching With A Robotic Manipulator With And Without Gravity Compensation, Jonathan Fugal

Theses and Dissertations--Electrical and Computer Engineering

Advances in computing power in recent years have facilitated developments in autonomous robotic systems. These robotic systems can be used in prosthetic limbs, wearhouse packaging and sorting, assembly line production, as well as many other applications. Designing these autonomous systems typically requires robotic system and world models (for classical control based strategies) or time consuming and computationally expensive training (for learning based strategies). Often these requirements are difficult to fulfill. There are ways to combine classical control and learning based strategies that can mitigate both requirements. One of these ways is to use a gravity compensated torque control with reinforcement ...


Optimal Mission Planning Of Autonomous Mobile Agents For Applications In Microgrids, Sensor Networks, And Military Reconnaissance, Casey D. Majhor Jan 2020

Optimal Mission Planning Of Autonomous Mobile Agents For Applications In Microgrids, Sensor Networks, And Military Reconnaissance, Casey D. Majhor

Dissertations, Master's Theses and Master's Reports

As technology advances, the use of collaborative autonomous mobile systems for various applications will become evermore prevalent. One interesting application of these multi-agent systems is for autonomous mobile microgrids. These systems will play an increasingly important role in applications such as military special operations for mobile ad-hoc power infrastructures and for intelligence, surveillance, and reconnaissance missions. In performing these operations with these autonomous energy assets, there is a crucial need to optimize their functionality according to their specific application and mission. Challenges arise in determining mission characteristics such as how each resource should operate, when, where, and for how long ...


Vision-Based Autonomous Tracking Of A Non-Cooperative Mobile Robot By A Low-Cost Quadrotor Vehicle, Cheikhna Ahmed Tidiane Sy Nov 2019

Vision-Based Autonomous Tracking Of A Non-Cooperative Mobile Robot By A Low-Cost Quadrotor Vehicle, Cheikhna Ahmed Tidiane Sy

Electrical and Computer Engineering ETDs

The goal of this thesis is the detection and tracking of a ground vehicle, in particular a car-like robot, by a quadrotor. The first challenge to address in any pursuit or tracking scenario is the detection and unique identification of the target. From this first challenge, comes the need to precisely localize the target in a coordinate system that is common to the tracking and tracked vehicles. In most real-life scenarios, the tracked vehicle does not directly communicate information such as its position to the tracking one. From this fact, arises a non-cooperative constraint problem. The autonomous tracking aspect of ...


The Causal Relationships In The Management Process Of Cement Production, Alishev Sh., Ortikov Z. Oct 2019

The Causal Relationships In The Management Process Of Cement Production, Alishev Sh., Ortikov Z.

Problems of Architecture and Construction

In the article on the basis of cause-effect relationships in cement, which are both direct and reverse in nature, it is revealed that the compressive strength of concrete largely depends on the reactivity of the anhydrous compounds obtained during firing, the fineness of grinding, the amount of free lime and other oxides, as well as a great influence on the quality of cement has a fine grinding of raw materials. Results of calculation of standard deviations. The models are obtained on the basis of the results of chemical analysis and individual expressive data of physical and mechanical character, on the ...


Developing An Automatic Control System For Track Relays In The Relay Room Of The Railway Stations Of The Joint Stock Company “Uzbekistan Temir Yo’Llari”, Q.K. Nuriddinov Aug 2019

Developing An Automatic Control System For Track Relays In The Relay Room Of The Railway Stations Of The Joint Stock Company “Uzbekistan Temir Yo’Llari”, Q.K. Nuriddinov

Journal of Tashkent Institute of Railway Engineers

This article deals with the problems of developing an automatic control system for track relays in the relay room of the railway stations of the Joint Stock Company “Uzbekistan Temir Yo’llari”. The statistical data of failures that occurred at the railway stations of the Joint Stock Company “Uzbekistan Temir Yo’llari” are given. A functional diagram of a local module for inputting analog signals from Signaling, Centralization, Interlocking and data transmission systems on a personal computer using a microcontroller via an Ethernet channel has been developed.


Integrated Control In Tokamaks Using Nonlinear Robust Techniques And Actuator Sharing Strategies, Andres Pajares Aug 2019

Integrated Control In Tokamaks Using Nonlinear Robust Techniques And Actuator Sharing Strategies, Andres Pajares

Theses and Dissertations

Tokamaks are devices whose final purpose is obtaining energy by means of nuclear fusion reactions. To achieve such purpose, a gas is injected into the tokamak's torus-shaped chamber and heated up to extremely high temperatures, giving birth to a plasma. When the necessary conditions of temperature, density, and confinement time are achieved, virtually inexhaustible energy can be produced in a tokamak.

The main contribution of this dissertation is the development of integrated control strategies for tokamak plasmas. The development of integrated control architectures is necessary for tokamaks to become efficient and commercially competitive power plants. Because a tokamak plasma ...


Control And Stability Of Upper Stage Launch Vehicle With Hybrid Arc-Ignition Attitude Control System, Steven Russell Bennett Aug 2019

Control And Stability Of Upper Stage Launch Vehicle With Hybrid Arc-Ignition Attitude Control System, Steven Russell Bennett

All Graduate Theses and Dissertations

The Utah State University Propulsion Research Laboratory (USUPRL) has recently made significant developments in the area of hybrid rocket systems. This type of propulsion system incorporates a solid fuel and a gas or liquid oxidizer. Hybrid rocket systems are known for their inherent safety, reliability, and restart capability. Over the last several years, the USUPRL has successfully built and tested a hybrid rocket system comprising acrylonitrile butadiene styrene (ABS) plastic and gaseous oxygen (GOX). The system was demonstrated to be fully functional during ground, vacuum, and sub-orbital flight testing. Continuing forward, the USUPRL endeavors to extend the capabilities of this ...


Underwater Remotely Operated Vehicle Controller With Pid Stability Regulation, Christian E. Aguirre Jun 2019

Underwater Remotely Operated Vehicle Controller With Pid Stability Regulation, Christian E. Aguirre

Electrical Engineering

The earth’s oceans and rivers remain widely unexplored. Hobbyists and companies across the globe invest money and resources into remotely operated vehicles (ROV) to further expand underwater knowledge. Each ROV includes a controller that operates motors and monitors other crucial system vitals. The ROV Controller project makes the process of designing an ROV simpler and more affordable by providing a multi-purpose programmable controller.

The ROV controller features programmable digital inputs/outputs and analog inputs. The controller processes control signals from analog joysticks, digital signals from a gyroscope and utilizes a MUX to expand the analog input capabilities of the ...


Development Of A Foot Interface To Control Supernumerary Robotics Limbs, Emma Morris May 2019

Development Of A Foot Interface To Control Supernumerary Robotics Limbs, Emma Morris

Rose-Hulman Summer Undergraduate Research Fellowships

Supernumerary robotic limbs (SRLs) can be used to provide a person with extra arms to help with difficult tasks. For example, a task that normally requires three hands to complete could be accomplished by just one person with an SRL. One way to control an SRL and still leave both hands available is to use the foot. This paper describes two parts of developing this foot interface: characterizing the range of forces that the foot can apply, and prototyping systems for different control methods. First, a small sample of data was collected to learn how much force the foot can ...


H2 Control For Improved Stability Of Multi-Area Electric Power System With High Levels Of Inverter-Based Generation, Muthanna Abdulkareem Al-Sarray May 2019

H2 Control For Improved Stability Of Multi-Area Electric Power System With High Levels Of Inverter-Based Generation, Muthanna Abdulkareem Al-Sarray

Theses and Dissertations

Increased generation capacity from non-dispatchable energy resources such as wind and solar has created challenges to ensuring the reliable delivery of electric power. This research develops a systematic three-step method of assessing the reliability of electric power systems under a variety of different possible fault conditions to ensure that overall system stability is preserved in a manner the meets regulatory requirements. The first step is a risk-based reliability method (RBRM) that accounts for the probability of a line outage versus the severity of impact. This allows system planners to judiciously allocate expenses for reliability improvements based on the greatest economic ...


Control And Optimization Of Energy Storage In Ac And Dc Power Grids, Samy Mohamed Mar 2019

Control And Optimization Of Energy Storage In Ac And Dc Power Grids, Samy Mohamed

FIU Electronic Theses and Dissertations

Energy storage attracts attention nowadays due to the critical role it will play in the power generation and transportation sectors. Electric vehicles, as moving energy storage, are going to play a key role in the terrestrial transportation sector and help reduce greenhouse emissions. Bulk hybrid energy storage will play another critical role for feeding the new types of pulsed loads on ship power systems. However, to ensure the successful adoption of energy storage, there is a need to control and optimize the charging/discharging process, taking into consideration the customer preferences and the technical aspects. In this dissertation, novel control ...


Implementación Sistema De Supervisión Y Control Para Los Módulos De Procesos, Miguel Ángel Rojas Mahecha Jan 2019

Implementación Sistema De Supervisión Y Control Para Los Módulos De Procesos, Miguel Ángel Rojas Mahecha

Ingeniería en Automatización

En este trabajo se atiende a la necesidad de implementar un sistema de supervisión y control para las dos unidades de entrenamiento de procesos industriales de la Universidad de La Salle, las cuales están dotadas de sensores industriales de alta precisión y son utilizadas en diferentes espacios académicos. Por lo tanto, se ofrece una herramienta educativa que permite llevar a cabo el dise˜no de diferentes técnicas de control que interactúen con las variables físicas de estos módulos. Para este fin, se empleó la sala de control y supervisión de procesos, junto con los dos módulos de entrenamiento, donde se ...


System Dynamics And Control, Benjamin Liaw Jan 2019

System Dynamics And Control, Benjamin Liaw

Open Educational Resources

Model development with applications to mechanical engineering systems. First and higher order system responses. Laplace transform, transfer functions and block diagrams. Frequency response and vibration. Introduction to feedback control. Concepts of PID control, tuning and compensation. Routh-Hurwitz stability. Control analysis and design using various graphical methods such as root locus, Bode diagram, Nyquist plot and Nichols chart. Hands-on experiments include dynamics and controls of mechanical, servo motor, fluid level/flow, pneumatic and temperature processing systems and vibration of various degree-of-freedom systems.


Haptic Force Generation For 6 Dof Dynamic Position Constraints, Fan Zhang Jan 2019

Haptic Force Generation For 6 Dof Dynamic Position Constraints, Fan Zhang

Graduate Theses and Dissertations

This paper implemented the impedance fields for performance enhancement on Virtuose 6D. The conversion from cartesian space to joint space is calculated and implemented to control the robot. The characteristics and the properties of the impedance field equation are analyzed. Simulations of the attractive field and repulsive field are made, that show the regions of influence of the static coupled system. Experimental results from the tests on the Haption Virtuose 6D robot are shown which validate the impedance control algorithm for both repulsive and attractive field.

Two approaches to the attractive, guiding fields are developed, and the human-robot system are ...


Control Strategy For A Small-Scale Microgrid Based On Battery Energy Storage System-Virtual Synchronous Generator (Bess-Vsg), Wei Gao Jan 2019

Control Strategy For A Small-Scale Microgrid Based On Battery Energy Storage System-Virtual Synchronous Generator (Bess-Vsg), Wei Gao

Electronic Theses and Dissertations

As one of widely deployed renewable energy resources, PV power is playing a very important role in microgrids today. It has advantages such as making the best of natural solar energy and being friendly to our environment. In this thesis, solar PV based microgrid is studied using modeling and simulation. Microgrid can run in either grid-connected-mode or islanded-mode. However, there are also some disadvantages for solar power. For solar panel, its output is influenced by weather conditions such as illumination intensity and temperature. In addition, during the control process of grid-connected mode, it is hard to guarantee its output power ...


Desarrollo De Una Estrategia De Control Predictivo Aplicado A Un Péndulo Invertido, Que Permita La Estabilización De Imágenes En Robots Para Exploración Agrícola, David Mateo Rojas Vallejo Jan 2019

Desarrollo De Una Estrategia De Control Predictivo Aplicado A Un Péndulo Invertido, Que Permita La Estabilización De Imágenes En Robots Para Exploración Agrícola, David Mateo Rojas Vallejo

Ingeniería en Automatización

La robótica es un campo de estudio tan amplio, que se puede extender prácticamente a cualquiera de las labores humanas; una de estas actividades es la agricultura, aunque para que esto se logre, primero se deben considerar factores mas específicos de un sistema robótico como: visión artificial, estructuras robóticas, control de sistemas, entre otros. En este proyecto se desarrolla una estrategia de control para una plataforma de péndulo invertido, que emula el sistema mecánico en donde se posicionaría la cámara de un robot agrícola. El sistema consiste en un péndulo invertido rotativo, y la estrategia de control que se implementó ...


Agenator: An Open Source Computer-Controlled Dry Aging System For Beef, Soon Kiat Lau, Felipe Azevedo Ribeiro, Jeyamkondan Subbiah, Chris R. Calkins Jan 2019

Agenator: An Open Source Computer-Controlled Dry Aging System For Beef, Soon Kiat Lau, Felipe Azevedo Ribeiro, Jeyamkondan Subbiah, Chris R. Calkins

Biological Systems Engineering: Papers and Publications

Dry aging of beef is a process where beef is exposed to a controlled environment with the ultimate goal of drying the beef to improve its quality and value. Comprehensive investigations into the effects of various environmental conditions on dry aging are crucial for understanding and optimizing the process, but the lack of affordable equipment focused on data collection makes it difficult to do so. The Agenator was thus developed as an open source system with a suite of features for investigating dry aging such as: measuring and recording relative humidity, temperature, mass, air velocity, and fan rotational speed; precise ...


Cooperative Secondary Voltage Control Of Static Converters In A Microgrid Using Model-Free Reinforcement Learning, Edward Smith, Duane A. Robinson, Ashish P. Agalgaonkar Jan 2019

Cooperative Secondary Voltage Control Of Static Converters In A Microgrid Using Model-Free Reinforcement Learning, Edward Smith, Duane A. Robinson, Ashish P. Agalgaonkar

Faculty of Engineering and Information Sciences - Papers: Part B

Agent-based secondary voltage regulation in an islanded MicroGrid is complicated by non-linear system dynamics, state couplings and uncertain communication network topology information. This paper proposes an off-policy learning algorithm for cooperative secondary voltage control which can synthesize an optimal feedback controller in real-time without knowledge of the system model. A simulation model has been developed using MATLAB/Simulink, which demonstrates a working controller. Results from the simulations are included, and practical considerations regarding implementation on a real system discussed.


Selective Atomic-Level Etching On Short S-Glass Fibres To Control Interfacial Properties For Restorative Dental Composites, Kiho Cho, Guannan Wang, Raju Raju, Jian Fang, Ginu Rajan, Martina Stenzel, Paul Farrar, Gangadhara B. Prusty Jan 2019

Selective Atomic-Level Etching On Short S-Glass Fibres To Control Interfacial Properties For Restorative Dental Composites, Kiho Cho, Guannan Wang, Raju Raju, Jian Fang, Ginu Rajan, Martina Stenzel, Paul Farrar, Gangadhara B. Prusty

Faculty of Engineering and Information Sciences - Papers: Part B

Interfacial bonding between fibre and matrix is most critical to obtain enhanced mechanical properties of the resulting composites. Here we present a new surface tailoring method of selective wet etching and organosilicon monomers (3-(Trimethoxysilyl) propyl methacrylate, TMSPMA) deposition process on the short S-Glass fibre as a reinforcing material, resulting in increased mechanical retention and strong chemical bonding between glass fibres and polymer resin (a mixture of triethylene glycol dimethacrylate (TEGDMA) and urethane dimethacrylate (UDMA) monomers). The effect of surface modification on fibre matrix interfacial strength was investigated through microdroplet tests. An S-Glass fibre treated with piranha solution (a mixture ...


Optimization-Based Spatial Positioning And Energy Management For Unmanned Aerial Vehicles, Ronald Abraham Martin Dec 2018

Optimization-Based Spatial Positioning And Energy Management For Unmanned Aerial Vehicles, Ronald Abraham Martin

Theses and Dissertations

This research applies techniques from the field of optimization to spatial positioning and energy management in Unmanned Aerial Vehicles (UAVs). Two specific areas are treated: optimization of UAV view plans for 3D modeling of infrastructure, and trajectory optimization of solar powered high-altitude long-endurance (HALE) UAVs. Structure-from-Motion (SfM) is a computer vision technique for creating 3D models from 2D images. View planning is the process of planning image sets that will effectively model a given scene. First, a genetic algorithm based view planning approach is demonstrated. A novel terrain simulation environment is developed, and the algorithm is tested at multiple sites ...


Duty-Cycle Based Physical Unclonable Functions (Pufs) For Hardware Security Applications, Mahmood Javed Azhar Nov 2018

Duty-Cycle Based Physical Unclonable Functions (Pufs) For Hardware Security Applications, Mahmood Javed Azhar

Graduate Theses and Dissertations

Duty cycle and frequency are important characteristics of periodic signals that are exploited to develop a variety of application circuits in IC design. Controlling the duty cycle and frequency provides a method to develop adaptable circuits for a variety of applications. These applications range from stable on-chip clock generation circuits, on-chip voltage regulation circuits, and Physical unclonable functions for hardware security applications. Ring oscillator circuits that are developed with CMOS inverter circuits provide a simple, versatile flexible method to generated periodic signals on an IC chip. A digitally controlled ring oscillator circuit can be adapted to control its duty cycle ...


Visual Servoing For Multirotor Precision Landing In Varying Light Conditions, Jesse Wynn, Tim Mclain Aug 2018

Visual Servoing For Multirotor Precision Landing In Varying Light Conditions, Jesse Wynn, Tim Mclain

Faculty Publications

The problem of performing a precision landing of an autonomous multirotor UAV in various lighting conditions is studied. A vision-based approach is proposed and consists of varying degree-of-freedom image-based visual servoing (VDOF-IBVS), and a specialized landing marker. The proposed approach is validated through extensive flight testing outdoors in both lighted and dark conditions, and is done using a standard off-the-shelf autopilot system.


Quadrotor Swarm Arena (Quasar) Development Of A Swarm Control Testbed, Shane T. Stebler, William Mackunis Aug 2018

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 ...


Design And Performance Estimation Of A Low-Reynolds Number Unmanned Aircraft System, Sean Lauderdale King Jul 2018

Design And Performance Estimation Of A Low-Reynolds Number Unmanned Aircraft System, Sean Lauderdale King

LSU Master's Theses

The purpose of this thesis is to conceptually design a fixed-wing unmanned aircraft systems (UAS) with a higher flight-time and top stable speed than comparable systems. The vehicle adheres to specifications derived from the client, the market, and the Federal Aviation Administration (FAA). To broadly meet these requirements, the vehicle must fly for a minimum of three hours, return to the original flight path quickly if perturbed, and must be hand-launched. The vehicle designed must also have a large potential center of gravity movement to allow for customization of the planform and client customization.

An iterative design process was used ...


An Elaborate Data Set On Human Gait And The Effect Of Mechanical Perturbations, Jason K. Moore, Sandra K. Hnat, Antonie J. Van Den Bogert May 2018

An Elaborate Data Set On Human Gait And The Effect Of Mechanical Perturbations, Jason K. Moore, Sandra K. Hnat, Antonie J. Van Den Bogert

Antonie J. van den Bogert

Here we share a rich gait data set collected from fifteen subjects walking at three speeds on an instrumented treadmill. Each trial consists of 120 s of normal walking and 480 s of walking while being longitudinally perturbed during each stance phase with pseudo-random fluctuations in the speed of the treadmill belt. A total of approximately 1.5 h of normal walking (>5000 gait cycles) and 6 h of perturbed walking (>20,000 gait cycles) is included in the data set. We provide full body marker trajectories and ground reaction loads in addition to a presentation of processed data that ...


Linear And Nonlinear Adaptive Attitude Control Of Asteroid-Orbiting Spacecraft Using State Feedback And Output Feedback, Nicholas Moya May 2018

Linear And Nonlinear Adaptive Attitude Control Of Asteroid-Orbiting Spacecraft Using State Feedback And Output Feedback, Nicholas Moya

UNLV Theses, Dissertations, Professional Papers, and Capstones

This thesis presents the derivation of both a linear and nonlinear adaptive control law for the attitude states of a spacecraft in orbit around rotating asteroids. The asteroid is assumed to be irregularly shaped and in an elliptical orbit around the sun. The linearized, time-varying spacecraft model will assume to include unknown parameters and will have external disturbances present. The objective is to control the roll, pitch, and yaw angle trajectories of the spacecraft such that they track desired reference trajectories. To achieve this, the control law will be composed of (1) a feedback controller, sufficiently robust to disturbance such ...


Learn-To-Fly Control System Design, Alexander Brent Streit Apr 2018

Learn-To-Fly Control System Design, Alexander Brent Streit

Electrical & Computer Engineering Theses & Disssertations

In order to improve aircraft flight control system development life cycle, new flight control techniques are being explored to allow the system to ``learn-to-fly" with limited a priori information of the aircraft's aerodynamic characteristics. One approach is to have a system identification process operating on-the-fly to generate mathematical models which can be used to update control laws. In this thesis, a wind tunnel experiment was conducted with a model aircraft set up to be free-to-roll, so system identification and control methods could be explored for a one-degree-of-freedom case. In particular this thesis covers the design of a novel control ...


Fly-By-Logic: Control Of Multi-Drone Fleets With Temporal Logic Objectives, Yash Vardhan Pant, Houssam Abbas, Rhudii A. Quaye, Rahul Mangharam Mar 2018

Fly-By-Logic: Control Of Multi-Drone Fleets With Temporal Logic Objectives, Yash Vardhan Pant, Houssam Abbas, Rhudii A. Quaye, Rahul Mangharam

Real-Time and Embedded Systems Lab (mLAB)

The problem of safe planning and control for multi- drone systems across a variety of missions is of critical impor- tance, as the scope of tasks assigned to such systems increases. In this paper, we present an approach to solve this problem for multi-quadrotor missions. Given a mission expressed in Signal Temporal Logic (STL), our controller maximizes robustness to generate trajectories for the quadrotors that satisfy the STL spec- ification in continuous-time. We also show that the constraints on our optimization guarantees that these trajectories can be tracked nearly perfectly by lower level off-the-shelf position and attitude controllers. Our approach ...


Performance Control Of A Spray Passive Down-Draft Evaporative Cooling System, Daeho Kang, Richard K. Strand Mar 2018

Performance Control Of A Spray Passive Down-Draft Evaporative Cooling System, Daeho Kang, Richard K. Strand

Publications and Research

A spray passive down-draft evaporative cooling system has been regarded as a low-energy cooling system that leads significant energy savings in the cooling of buildings. While the energy saving capability of the system has been proven, the ability to control a comfortable indoor environment is still inadequate due to strong climatic dependency. This study seeks viable solutions to advance the control competence of the system by mitigating critical problems of the system to be a reliable cooling application in the cooling of buildings. It proposes potential control strategies for the system and alternative operations. It develops a control algorithm for ...


State Estimation, Control, And Planning For A Quadrotor Team, Kartik Mohta Jan 2018

State Estimation, Control, And Planning For A Quadrotor Team, Kartik Mohta

Publicly Accessible Penn Dissertations

Teams of aerial robots have the potential to become effective information gathering instruments, specially in the fields of infrastructure inspection, surveillance, and environmental monitoring due to their ability to operate in environments which may be difficult or impassable for ground robots. This dissertation addresses the problem of developing a team of autonomous quadrotors that can be quickly deployed and controlled by a single human operator.

First, we describe the system design and algorithms for robust single robot autonomy and demonstrate it with experiments in a variety of environments. The developed robot uses onboard cameras for state estimation and is capable ...