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Articles 1 - 30 of 393

Full-Text Articles in Engineering

Adaptive Neural Network Identifiers For Effective Control Of Turbogenerators In A Multimachine Power System, Ganesh K. Venayagamoorthy, Ronald G. Harley, Donald C. Wunsch Oct 2018

Adaptive Neural Network Identifiers For Effective Control Of Turbogenerators In A Multimachine Power System, Ganesh K. Venayagamoorthy, Ronald G. Harley, Donald C. Wunsch

Donald C. Wunsch

This paper provides a novel method for nonlinear identification of multiple turbogenerators in a five-machine 12-bus power system using continually online trained (COT) artificial neural networks (ANNs). Each turbogenerator in the power system is equipped with all adaptive ANN identifier, which is able to identify/model its particular turbogenerator and rest of the network to which it is connected from moment to moment, based on only local measurements. Each adaptive ANN turbogenerator can be used in the design of a nonlinear controller for each turbogenerator in a multimachine power system. Simulation results for the adaptive ANN identifiers are presented


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

All 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 ...


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 ...


Photovoltaic Inverter Control To Sustain High Quality Of Service, Yan Chen Jan 2018

Photovoltaic Inverter Control To Sustain High Quality Of Service, Yan Chen

Theses and Dissertations

The increasing penetration of distributed solar photovoltaic (PV) generation presents both challenges and opportunities for distribution systems. The intermittent nature of solar irradiance may lead to power quality degradation. At the same time, PV inverters –if properly designed and operated– can be used to improve power quality. The goal of this dissertation is to develop power flow optimization methods for power distribution networks with high penetration of PV generation. The approaches proposed in this dissertation have been tested using the modified version of the IEEE 34-node distribution system and the IEEE 123-node distribution system, as well as the validated model ...


Model Predictive Control (Mpc) For Enhancing Building And Hvac System Energy Efficiency: Problem Formulation, Applications And Opportunities, Gianluca Serale, Massimo Fiorentini, Alfonso Capozzoli, Daniele Bernardini, Alberto Bemporad Jan 2018

Model Predictive Control (Mpc) For Enhancing Building And Hvac System Energy Efficiency: Problem Formulation, Applications And Opportunities, Gianluca Serale, Massimo Fiorentini, Alfonso Capozzoli, Daniele Bernardini, Alberto Bemporad

Faculty of Engineering and Information Sciences - Papers: Part B

In the last few years, the application of Model Predictive Control (MPC) for energy management in buildings has received significant attention from the research community. MPC is becoming more and more viable because of the increase in computational power of building automation systems and the availability of a significant amount of monitored building data. MPC has found successful implementation in building thermal regulation, fully exploiting the potential of building thermal mass. Moreover, MPC has been positively applied to active energy storage systems, as well as to the optimal management of on-site renewable energy sources. MPC also opens up several opportunities ...


Cyber-Physical Embedded Systems With Transient Supervisory Command And Control: A Framework For Validating Safety Response In Automated Collision Avoidance Systems, Daniel K. Trembley Jan 2018

Cyber-Physical Embedded Systems With Transient Supervisory Command And Control: A Framework For Validating Safety Response In Automated Collision Avoidance Systems, Daniel K. Trembley

Graduate Dissertations and Theses

The ability to design and engineer complex and dynamical Cyber-Physical Systems (CPS) requires a systematic view that requires a definition of level of automation intent for the system. Since CPS covers a diverse range of systemized implementations of smart and intelligent technologies networked within a system of systems (SoS), the terms “smart” and “intelligent” is frequently used in describing systems that perform complex operations with a reduced need of a human-agent. The difference between this research and most papers in publication on CPS is that most other research focuses on the performance of the CPS rather than on the correctness ...


Model Identification And Control Of Autonomous Ground Vehicles, Sina Aghli Jan 2018

Model Identification And Control Of Autonomous Ground Vehicles, Sina Aghli

Computer Science Graduate Theses & Dissertations

Autonomous Ground Vehicles (AGV) are mobile robotic platforms used in variety of applications to execute tasks which could be dangerous for humans to operate. Recently, autonomous cars are discussed in carrying passengers from point to point without human interaction. Sophisticated controllers are required to operate autonomous vehicles while responding to both normal and hazardous driving conditions. Dangerous conditions which might be easily perceivable by sensors in the system require controllers that can readily benefit from the new sensory information. In this thesis, we address this problem by asserting that the design of controllers and corresponding calibration and local planning methods ...


Ball Oscillating Bouncer, Eric Blok, Daniel Altemese, Ryan Nowacki, Maram Qurban Jan 2018

Ball Oscillating Bouncer, Eric Blok, Daniel Altemese, Ryan Nowacki, Maram Qurban

Honors Research Projects

The purpose of this report is to document the need, objectives, marketing and engineering requirements, as well as validate the design of an autonomous control device capable of continuously bouncing a table tennis ball on a paddle. This includes the design of a self correcting system using lightweight materials, and as few sensors and components as possible to achieve a compact, portable design. To accomplish this, the system is designed to react to a ball falling from as short a distance as 10 centimeters above the paddle, meaning all sensor processing, control processing, and motor drives should be able to ...


Analysis Of Evolutionary Algorithms In The Control Of Path Planning Problems, Pavlos Androulakakis Jan 2018

Analysis Of Evolutionary Algorithms In The Control Of Path Planning Problems, Pavlos Androulakakis

Browse all Theses and Dissertations

The purpose of this thesis is to examine the ability of evolutionary algorithms (EAs) to develop near optimal solutions to three different path planning control problems. First, we begin by examining the evolution of an open-loop controller for the turn-circle intercept problem. We then extend the evolutionary methodology to develop a solution to the closedloop Dubins Vehicle problem. Finally, we attempt to evolve a closed-loop solution to the turn constrained pursuit evasion problem. For each of the presented problems, a custom controller representation is used. The goal of using custom controller representations (as opposed to more standard techniques such as ...


Joint Transmission Power Control And Relay Cooperation For Wban Systems, Hongyun Zhang, Farzad Safaei, Le Chung Tran Jan 2018

Joint Transmission Power Control And Relay Cooperation For Wban Systems, Hongyun Zhang, Farzad Safaei, Le Chung Tran

Faculty of Engineering and Information Sciences - Papers: Part B

Improving transmission reliability is a crucial challenge for Wireless Body Area Networks (WBANs) because of the instability of channel conditions and the stringent Packet Loss Ratio (PLR) requirement for many WBANs applications. On the other hand, limited by the size of WBAN nodes, the energy consumption of WBAN nodes should be minimized. In this paper, we jointly consider transmission power control, dynamic slot scheduling and two-hop cooperative mechanism and propose an Autocorrelation-based Adaptive Transmission (AAT) scheme that achieves a better trade-off between transmission reliability and energy consumption for WBAN systems. The new scheme is designed to be compatible with IEEE ...


Model Predictive Power Management Of A Hybrid Electric Propulsion System For Aircraft, Tyler J. Wall Dec 2017

Model Predictive Power Management Of A Hybrid Electric Propulsion System For Aircraft, Tyler J. Wall

Master's Theses

This work presents the switched optimal power flow control for an aircraft with a hybrid electric propulsion system. The propulsion system is a switched system that operates in either of two modes: (i) battery discharging and electric motor propelling and (ii) battery charging and electric motor generating. The aircraft model and components that form the hybrid propulsion system are modeled as either an algebraic power source/sink or as a dynamic model with appropriate power and state interconnections. With the system model defined, a model predictive control power management strategy is set fourth which minimizes a performance index that includes ...


Hardware Based Testing Of Communication Based Control For Dc Microgrid, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed Nov 2017

Hardware Based Testing Of Communication Based Control For Dc Microgrid, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed

Publications and Research

This paper further describes our work presented in Industry Application Society 2016 Conference, with more details related to the control and operation of the microgrid. The DC microgrid facility was custom designed and implemented at CCNY with minimal off-the-shelf components to enable flexibility and reconfiguration capability. The design steps, requirements, and experimental results of the developed testbed were discussed. As a case study, a central controller for energy management algorithm was developed and tested under several operational scenarios. The experimental results verify the applicability of the developed testbed for validating DC microgrid controllers.


Cyber-Physical System Characterization And Co-Regulation Of A Quadrotor Uas, Seth E. Doebbeling Aug 2017

Cyber-Physical System Characterization And Co-Regulation Of A Quadrotor Uas, Seth E. Doebbeling

Mechanical (and Materials) Engineering -- Dissertations, Theses, and Student Research

An Unmanned Aircraft System (UAS) is a Cyber-Physical System (CPS) in which a host of real-time computational tasks contending for shared resources must be cooperatively managed to obtain mission objectives. Traditionally, control of the UAS is designed assuming a fixed, high sampling rate in order to maintain reliable performance and margins of stability. But emerging methods challenge this design by dynamically allocating resources to computational tasks, thereby affecting control and mission performance. To apply these emerging strategies, a characterization and understanding of the effects of timing on control and trajectory following performance is required. Going beyond traditional control evaluation techniques ...


Prototype Vehicles Laboratory Steering Apparatus, Zachary W. Sharpell, Jorge Lopez, Colby R. Genasci Jun 2017

Prototype Vehicles Laboratory Steering Apparatus, Zachary W. Sharpell, Jorge Lopez, Colby R. Genasci

Mechanical Engineering

The Cal Poly Prototype Vehicles Team (PROVE) is designing a solar powered vehicle to break an international land speed record. The space within the driver’s cockpit allotted for the steering mechanism was too small for a conventional steering wheel. This report describes the process that was followed to design, manufacture, and test a compact and lightweight steering apparatus for the PROVE solar vehicle. A lateral lever steering system, the final design selected for PROVE’s solar car, was designed to withstand the maximum expected loads applied by the driver during the three-minute run of the competition. The lateral lever ...


Autonomous Highway Systems Safety And Security, Imran Sajjad May 2017

Autonomous Highway Systems Safety And Security, Imran Sajjad

All Graduate Theses and Dissertations

Automated vehicles are getting closer each day to large-scale deployment. It is expected that self-driving cars will be able to alleviate traffic congestion by safely operating at distances closer than human drivers are capable of and will overall improve traffic throughput. In these conditions, passenger safety and security is of utmost importance.

When multiple autonomous cars follow each other on a highway, they will form what is known as a cyber-physical system. In a general setting, there are tools to assess the level of influence a possible attacker can have on such a system, which then describes the level of ...


Applications Of Relative Motion Models Using Curvilinear Coordinate Frames, Alex C. Perez May 2017

Applications Of Relative Motion Models Using Curvilinear Coordinate Frames, Alex C. Perez

All Graduate Theses and Dissertations

A new angles-only initial relative orbit determination (IROD) algorithm is derived using three line-of-sight observations. This algorithm accomplishes this by taking a Singular Value Decomposition of a 6x6 matrix to arrive at an approximate initial relative orbit determination solution. This involves the approximate solution of 6 polynomial equations in 6 unknowns. An iterative improvement algorithm is also derived that provides the exact solution, to numerical precision, of the 6 polynomial equations in 6 unknowns. The initial relative orbit algorithm is also expanded for more than three line-of-sight observations with an iterative improvement algorithm for more than three line-of-sight observations. The ...


Vision-Based Control Of A Full-Size Car By Lane Detection, N. Chase Kunz May 2017

Vision-Based Control Of A Full-Size Car By Lane Detection, N. Chase Kunz

All Graduate Theses and Dissertations

Autonomous driving is an area of increasing investment for researchers and auto manufacturers. Integration has already begun for self-driving cars in urban environments. An essential aspect of navigation in these areas is the ability to sense and follow lane markers. This thesis focuses on the development of a vision-based control platform using lane detection to control a full-sized electric vehicle with only a monocular camera. An open-source, integrated solution is presented for automation of a stock vehicle. Aspects of reverse engineering, system identification, and low-level control of the vehicle are discussed. This work also details methods for lane detection and ...


Applications Of Krylov Subspace And Balanced Truncation Model Order Reduction In Power Systems, Sebastian Emanuel Garrido May 2017

Applications Of Krylov Subspace And Balanced Truncation Model Order Reduction In Power Systems, Sebastian Emanuel Garrido

Theses and Dissertations

Dynamic representations of power systems usually result in the order of hundreds or even thousands of buses. Therefore, reduction of these dynamic representations is convenient. Two applications of model order reduction in power systems are discussed in this thesis. First, Krylov subspace-based method is applied to the IEEE-123 Node Test Feeder in the context of distribution-level power systems simulation. Second, a Balanced Truncation-based model reduction is implemented in the 3-Machine 9-Bus system for designing a power system controller in the context of generation- and transmission-level power systems.

First, for the IEEE-123 Node Test Feeder, a two-sided Arnoldi algorithm is proposed ...


Dynamic Model And Control Of Quadrotor In The Presence Of Uncertainties, Courage Agho May 2017

Dynamic Model And Control Of Quadrotor In The Presence Of Uncertainties, Courage Agho

Theses and Dissertations

This thesis considers the control of quadrotor using a linear PID control and ℒ1 adaptive control. In a justifiable concept, PID controller can be used to control a quadrotor, but in the presence of uncertainties or disturbance, the quadrotor can’t be automatically adjusted to control the changing dynamics of the quadrotor. To solve the problem associated with uncertainties, various control methodology can be used for controlling the changing dynamic of quadrotor, but in this thesis, ℒ1 adaptive control is used because it allows for fast and robust adaptation for desired transient performance in the presence of matched and unmatched ...


Electromagnetic Signal Feedback Control For Proximity Detection Systems, Adam K. Smith Jan 2017

Electromagnetic Signal Feedback Control For Proximity Detection Systems, Adam K. Smith

Dissertations, Master's Theses and Master's Reports

Coal is the most abundant fossil fuel in the United States and remains an essential source of energy. While more than half of coal production comes from surface mining, nearly twice as many workers are employed by underground operations.

One of the key pieces of equipment used in underground coal mining is the continuous mining machine. These large and powerful machines are operated in confined spaces by remote control. Since 1984, 40 mine workers in the U. S. have been killed when struck or pinned by a continuous mining machine. It is estimated that a majority of these accidents could ...


Simulation Of Human Ankle Trajectory During Stance Phase Of Gait, Leslie Castelino Jan 2017

Simulation Of Human Ankle Trajectory During Stance Phase Of Gait, Leslie Castelino

Dissertations, Master's Theses and Master's Reports

A simulation was developed which mimics the human gait characteristics based on the input of an individual’s gait trajectory. This simulation also estimates the impedance of the human ankle based on the ground reaction forces measured by the force plate. This simulation will accept alterations of the following parameters: total body weight, weight of the shank, weight of the foot, trajectories of the shank and foot of the individual and orientation of the force plate, which would generate a new gait trajectory for the ankle during the stance phase of gait. The goal of this simulation was to validate ...


A Hybrid State/Event Driven Communication-Based Control For Dc Microgrids, Yusef Esa Jan 2017

A Hybrid State/Event Driven Communication-Based Control For Dc Microgrids, Yusef Esa

Master's Theses

The U.S. electric power industry is undergoing unprecedented changes triggered by the growing electricity demand, and the national efforts to reduce greenhouse gas emissions. Moreover, there is a call for increased power grid resiliency, survivability and self-healing capabilities. As a result of these challenges, the smart grid concept emerged. One of the main pillars of the smart grid is microgrids. In this thesis, the technical merits of clustering multiple microgrids during blackouts on the overall stability and supply availability have been investigated.

We propose to use the existing underground distribution grid infrastructure, if applicable, during blackouts to form microgrid ...


Hybrid Model Predictive Control Of A Residential Hvac System With On-Site Thermal Energy Generation And Storage, Massimo Fiorentini, Josh Wall, Zhenjun Ma, Julio H. Braslavsky, Paul Cooper Jan 2017

Hybrid Model Predictive Control Of A Residential Hvac System With On-Site Thermal Energy Generation And Storage, Massimo Fiorentini, Josh Wall, Zhenjun Ma, Julio H. Braslavsky, Paul Cooper

Faculty of Engineering and Information Sciences - Papers: Part A

This paper describes the development, implementation and experimental investigation of a Hybrid Model Predictive Control (HMPC) strategy to control solar-assisted heating, ventilation and air-conditioning (HVAC) systems with on-site thermal energy generation and storage. A comprehensive approach to the thermal energy management of a residential building is presented to optimise the scheduling of the available thermal energy resources to meet a comfort objective. The system has a hybrid nature with both continuous variables and discrete, logic-driven operating modes. The proposed control strategy is organized in two hierarchical levels. At the high-level, an HMPC controller with a 24-h prediction horizon and a ...


Review On Design And Control Aspects Of Robotic Shoulder Rehabilitation Orthoses, Aibek Niyetkaliyev, Shahid Hussain, Mergen Hmcgill University, Ghayesh, Gursel Alici Jan 2017

Review On Design And Control Aspects Of Robotic Shoulder Rehabilitation Orthoses, Aibek Niyetkaliyev, Shahid Hussain, Mergen Hmcgill University, Ghayesh, Gursel Alici

Faculty of Engineering and Information Sciences - Papers: Part B

Robotic rehabilitation devices are more frequently used for the physical therapy of people with upper limb weakness, which is the most common type of stroke-induced disability. Rehabilitation robots can provide customized, prolonged, intensive, and repetitive training sessions for patients with neurological impairments. In most cases, the robotic exoskeletons have to be aligned with the human joints and provide natural arm movements. This is a challenging task to achieve for one of the most biomechanically complex joints of human body, i.e., the shoulder. Therefore, specific considerations have been made in the development of various existing robotic shoulder rehabilitation orthoses. Different ...


Investigation Of Extremum Seeking Control For Adaptive Exercise Machines, Brahm T. Powell Jan 2017

Investigation Of Extremum Seeking Control For Adaptive Exercise Machines, Brahm T. Powell

ETD Archive

Many muscle rehabilitation regimens are non-adaptive and recommended subjectively by physicians. While there are advantages to having the feedback of a qualified physician, utilizing real-time muscle performance feedback could be beneficial. An extremum seeking control design is proposed to fulfill the need for an automated, load-varying exercise machine that can optimize muscle performance.

Several steps are outlined to contribute to the realization of this goal. First, the extremum seeking control scheme is discussed. Second, the Hill muscle model will be described. Theoretical muscle effort extrema will be derived for selected optimization cases, namely maximizing average squared power by varying load ...


Modelling And Control Of A Novel Walker Robot For Post-Stroke Gait Rehabilitation, Emre Sariyildiz, Hsiao-Ju Cheng, Gokhan M. Yagli, Haoyong Yu Jan 2017

Modelling And Control Of A Novel Walker Robot For Post-Stroke Gait Rehabilitation, Emre Sariyildiz, Hsiao-Ju Cheng, Gokhan M. Yagli, Haoyong Yu

Faculty of Engineering and Information Sciences - Papers: Part B

In this paper, a novel walker robot is proposed for post-stroke gait rehabilitation. It consists of an omni-directional mobile platform which provides high mobility in horizontal motion, a linear motor that moves in vertical direction to support the body weight of a patient and a 6-axis force/torque sensor to measure interaction force/torque between the robot and patient. The proposed novel walker robot improves the mobility of pelvis so it can provide more natural gait patterns in rehabilitation. This paper analytically derives the kinematic and dynamic models of the novel walker robot. Simulation results are given to validate the ...


Observer-Based Load Frequency Control For Island Microgrid With Photovoltaic Power, Chaoxu Mu, Weiqiang Liu, Wei Xu, Md Rabiul Islam Jan 2017

Observer-Based Load Frequency Control For Island Microgrid With Photovoltaic Power, Chaoxu Mu, Weiqiang Liu, Wei Xu, Md Rabiul Islam

Faculty of Engineering and Information Sciences - Papers: Part B

As renewable energy is widely integrated into the power system, the stochastic and intermittent power generation from renewable energy may cause system frequency deviating from the prescribed level, especially for a microgrid. In this paper, the load frequency control (LFC) of an island microgrid with photovoltaic (PV) power and electric vehicles (EVs) is investigated, where the EVs can be treated as distributed energy storages. Considering the disturbances from load change and PV power, an observer-based integral sliding mode (OISM) controller is designed to regulate the frequency back to the prescribed value, where the neural network observer is used to online ...