Controls and Control Theory Commons^™

Development Of An Electromagnetic System For Wireless Magnetic Manipulation Of Soft Capsule Endoscope For Drug Delivery Applications, Nada Ashraf Hussein Mahmoud

Theses and Dissertations

Wireless capsule endoscopy (WCE) is a remarkable diagnostic device that examines the gastrointestinal (GI) tract. The WCE is a small capsule integrated with a camera that is used to visualize the inner mucosa of the GI tract. WCE has been proven to be the most effective method to diagnose GI diseases and GI cancers. The procedure reduces the discomfort and risk compared to conventional endoscopy methods. However, current WCEs lack the ability to take a biopsy or deliver a drug to a specific location. Those therapeutic functions can be introduced by wirelessly controlled WCEs. This thesis introduces an electromagnetic system …

Mathematical Model Of An Industrial Robot Built On The Basis Of Linear Motion Mechatron Modules, Matyokubov Nurbek Rustamovich, Rakhimov Temurbek Omonboyevich

Chemical Technology, Control and Management

The use of Industry 4.0 technologies in modern production serves to increase production efficiency. Robots and robotic complexes with innovative intelligent control are widely used in industrial production. However, studying their mechanical part, linear motion mechatronic modules and control system is a complex object. The variety and complexity of control methods and operating modes negatively affects the operator's working time and production productivity. In such cases, it is necessary to improve control methods and develop technologies used in industry, including robots and robotic manipulators, which allow to perform short movements with high accuracy and speed. In the article, the mathematical …

Multiple Objective Co-Optimization Of Switched Reluctance Machine Design And Control, Timothy Burress

Doctoral Dissertations

This dissertation includes a review of various motor types, a motivation for selecting the switched reluctance motor (SRM) as a focus of this work, a review of SRM design and control optimization methods in literature, a proposed co-optimization approach, and empirical evaluations to validate the models and proposed co-optimization methods.

The switched reluctance motor (SRM) was chosen as a focus of research based on its low cost, easy manufacturability, moderate performance and efficiency, and its potential for improvement through advanced design and control optimization. After a review of SRM design and control optimization methods in the literature, it was found …

Optical Control System For Atmospheric Turbulence Mitigation, Martyn Lemon

All Theses

Propagation of laser light is distorted in the presence of atmospheric turbulence. This poses an issue for sensing, free-space optical communications, and transmission of power. With an ever-increasing demand for high-speed data communications, particularly between satellites, unmanned vehicles, and other systems that benefit from a point-to-point link, this issue is critical for the field. A variety of methods have been proposed to circumvent this issue. Some major categories include the manipulation of the light’s structure, an adaptive scheme at the optical receiver, scanning mirror systems, or a transmission of simultaneous signals with a goal to improve robustness.

There is an …

Use Of The Igbt Module In The Active Region To Design A High Current Active Filter, Jorge F. Galarraga

Graduate Theses and Dissertations

Particle accelerators require high-precision magnetic fields on the order or 100ppm or less. This implies that the precision of the associated electrical current in the electromagnet that generates these fields should be smaller than 100ppm. However, conventional switching power supplies cannot offer this precision due to the frequency limitation of the switches. This research considers the use of power electronics devices operating in a linear as an alternative solution to meet the requirements of particle accelerator electromagnets.

This thesis presents the study of an insulated-gate bipolar transistor (IGBT) driver using a new control method that linearizes the IGBT’s collector-emitter voltage …

Design, Development, And Evaluation Of Customized Electronics For Controlling A 5-Dof Magneto-Rheological Actuator Collaborative Robot, Ziqi Yang

Electronic Thesis and Dissertation Repository

In recent years, Magneto-Rheological (MR) fluids has been used in various fields such as robotics, automotive, aerospace, etc. The most common use of the MR fluids is within a clutch-like mechanism, namely an MR clutch. When mechanical input is coupled to the input part of the MR clutch, the MR clutch provides a means of delivering this mechanical input to its output, through the MR fluids. The combination of the mechanical input device and the MR clutch is called an MR actuator. The MR actuator features inherently compliance owing to the characteristic of the MR fluids while also offering higher …

Control And Locomotion Of Inertially And Magnetically Actuated Multi-Scale Robotic Systems, Ehab Al Khatib

Mechanical Engineering Research Theses and Dissertations

In this research, two actuation systems were introduced, inertial and magnetic actuation. In the inertial actuation, the robot used the transfer of momentum to navigate, and this momentum could be generated by spinning masses and wheels. Recent studies in our System Laboratory proved that a wide range of inertially actuated locomotion systems could be generated. This can be achieved by using a family tree approach, starting from a very simple system, and progressively evolving it to more complex ones. The motion diversity of these robots inspired us to extend their locomotion from a macro scale to millimeter and micro scales. …

Design And Analysis Of Modular Axial Flux Switched Reluctance Motor, Rochak Shiwakoti

University of New Orleans Theses and Dissertations

This thesis presents a new modular structure of the axial flux Switched Reluctance Motor (SRM). The design consists of four stator disks with each adjacent disk rotated 30 degrees apart and four rotor disks connected to a common shaft. The proposed design aims to reduce the unwanted radial force, mitigate the torque ripple, and improve the efficiency. The modular structure distributes the radial force and torque strokes along the axial length of the motor, potentially damping the torque pulsation. In addition, the modular structure would deliver the rating power at a lower current level, reducing the overall ohmic loss. Moreover, …

Brushless Direct Current Motor Control For Inspired Flight, Aidan James Mccoy

Computer Science and Software Engineering

Brushless direct current motors have become a very common part of many modern electronics. Although they are more expensive and less robust than conventional brushed direct current motors, they provide large advantages in control, power output, longevity as well as efficiency. To make these motors run, they need more than just power. Each motor needs a separate motor controller that is responsible for taking in a signal for what speed/torque to run the motor at, and then managing the current flow to the motor to keep it spinning while fitting within these boundaries. Brushless direct current motors have a set …

Coaxial Magnetic Gearbox With A Flux Concentration Halbach Rotor And Consequent Pole Rotor Typology, Ho Yin Wong

Electrical and Computer Engineering PhD Day

This paper presents the performance comparison between a flux concentration and triple permanent magnet consequent pole magnetic gear rotor typology with the same 7.5:1 gear ratio. The triple permanent magnet consequent pole magnetic gear is unique in that it can create torque change through two field heterodyning pole combinations. The performance with respect to volumetric and mass torque density is considered. It is shown that the flux concentration typology can operate with a higher mass and volumetric higher torque density, even when using a low flux concentration ratio rotor.

Two Senior Projects: 2.4 Ghz, 40% Efficiency Radio Frequency Amplifier, Ieee Design Contest, & Design And Implementation Of A Software Costas Loop For Audio Frequencies, Robert J. Tong

Electrical Engineering

How to Read this Document:

This document combines two senior project reports. The first senior project documents designing a class AB RF amplifier. The second, discusses the design and implementation of a software Costas loop for audio frequencies. The first report begins on the next page, while the Costas loop report starts on page 24. The two reports are orthogonal from one another. It is not a prerequisite to read the RF amplifier report before reading the Costas loop report. This document is merely two reports combined into one document. The second report, about the Costas loop, was written as …

Design And Control Of Close Proximity Indirect Exposure For Nonthermal Atmospheric Pressure Plasma-Based Oxidation Of Carbon Fiber Precursor, Truman Andrew Bonds

Doctoral Dissertations

A new plasma-based method for the stabilization of polyacrylonitrile carbon fiber precursor utilizing reactive chemical species derived from a custom atmospheric pressure plasma generation system was developed and demonstrated. As opposed to the conventional stabilization method of convective heating in air, plasma-based stabilization efficiently introduces oxidative reactive species that both diffuse through and react faster with the precursor filaments, resulting in a faster and more efficient process. This method was successfully demonstrated with a variety of precursor chemistries, grades and sizes. The development effort was entirely experimental, with successive processing devices designed and constructed to examine various aspects of the …

Optimization-Free Optical Focal Field Engineering Through Reversing The Radiation Pattern From A Uniform Line Source, Yanzhong Yu, Qiwen Zhan

Qiwen Zhan

A simple and flexible method is presented for the generation of optical focal field with prescribed characteristics. By reversing the field pattern radiated from a uniform line source, for which the electric current is constant along its extent, situated at the focus of a 4Pi focusing system formed by two confocal high-NA objective lenses, the required illumination distribution at the pupil plane for creating optical focal field with desired properties can be obtained. Numerical example shows that an arbitrary length optical needle with extremely high longitudinal polarization purity and consistent transverse size of ~0.36λ over the entire depth of focus …

Tailoring Optical Complex Fields With Nano-Metallic Surfaces, Guanghao Rui, Qiwen Zhan

Qiwen Zhan

Recently there is an increasing interest in complex optical fields with spatially inhomogeneous state of polarizations and optical singularities. Novel effects and phenomena have been predicted and observed for light beams with these unconventional states. Nanostructured metallic thin film offers unique opportunities to generate, manipulate and detect these novel fields. Strong interactions between nano-metallic surfaces and complex optical fields enable the development of highly compact and versatile functional devices and systems. In this review, we first briefly summarize the recent developments in complex optical fields. Various nano-metallic surface designs that can produce and manipulate complex optical fields with tailored characteristics …

Creation Of Identical Multiple Focal Spots With Prescribed Axial Distribution, Yanzhong Yu, Qiwen Zhan

Qiwen Zhan

We present a scheme for the construction of coaxially equidistant multiple focal spots with identical intensity profiles for each individual focus and a predetermined number and spacing. To achieve this, the radiation field from an antenna is reversed and then gathered by high numerical aperture objective lenses. Radiation patterns from three types of line sources, i.e., the electric current, magnetic current and electromagnetic current distributions, with cosine-squared taper are respectively employed to generate predominately longitudinally polarized bright spots, azimuthally polarized doughnuts, and focal spots with a perfect spherically symmetric intensity distribution. The required illuminations at the pupil plane of a …

Phase Gradient Algorithm Method For 3-D Holographic Ladar Imaging, Jason W. Stafford, Bradley D. Duncan, David J. Rabb

Bradley D. Duncan

3-D holographic ladar uses digital holography with frequency diversity to add the ability to resolve targets in range. A key challenge is that since individual frequency samples are not recorded simultaneously, differential phase aberrations may exist between them making it difficult to achieve range compression. We describe steps specific to this modality so that phase gradient algorithms (PGA) can be applied to 3-D holographic ladar data for phase corrections across multiple temporal frequency samples. Substantial improvement of range compression is demonstrated with a laboratory experiment where our modified PGA technique is applied. Additionally, the PGA estimator is demonstrated to be …

Investigation Of Real-Time Optical Scanning Holography, Bradley D. Duncan

Bradley D. Duncan

Real-time holographic recording using an optical heterodyne scanning technique was proposed by Poon in 1985. The first part of this dissertation provides a detailed theoretical treatment of the technique, based on a Gaussian beam analysis. Topics to be addressed include the derivations of the optical transfer function (OTF) and impulse response of the scanning holographic recording system, reconstructed image resolution and magnification, methods of carrier frequency hologram generation and experimental verification of the recording technique based on careful measurements of a hologram corresponding to a simple transmissive slit. Furthermore, computer simulations are presented pertaining to the incoherent nature of the …

Imaging Diffractometer With Holographic Encoding Enhancements For Laser Sensing And Characterization, Joesph Binford, Bradley Duncan, Jack Parker, Elizabeth Beecher, Mark Delong

Bradley D. Duncan

What is believed to be a novel holographic optical encoding scheme has been developed to enhance the performance of laser sensors designed for the measurement of wavelength and angular trajectory. A prototype holographic imaging diffractometer has been created to reconstruct holographic cueing patterns superimposed in the focal plane of wide-angle scene imagery. Based on experimental pattern metric measurements at the focal plane, a theoretical model is used to compute the laser source wavelength and its apparent propagation direction within the sensor's field of view. The benefits of incorporating holographic enhancements within an imager-based sensor architecture are discussed.

Review: 'Optical Fiber Communications' (2nd Edition), By Gerd Keiser, Bradley D. Duncan

Bradley D. Duncan

If first impressions are worth anything (and they usually are), I would have to admit that my first impression of the second edition of Gerd Keiser's now popular text Optical Fiber Communications was quite good. My compliments are hereby extended to the publisher for choosing a rather handsome cover and dust jacket. It stands in strong contrast to the text's first edition, which still ranks as probably the ugliest book I own, with color choices ranging from dull cream and "baby" blue to pale pink! I am now happy to say that this older version has been discretely·retired to the …

Optical Sparse Aperture Imaging, Nicholas Miller, Matthew Dierking, Bradley Duncan

Bradley D. Duncan

The resolution of a conventional diffraction-limited imaging system is proportional to its pupil diameter. A primary goal of sparse aperture imaging is to enhance resolution while minimizing the total light collection area; the latter being desirable, in part, because of the cost of large, monolithic apertures. Performance metrics are defined and used to evaluate several sparse aperture arrays constructed from multiple, identical, circular subapertures. Subaperture piston and∕or tilt effects on image quality are also considered. We selected arrays with compact nonredundant autocorrelations first described by Golay. We vary both the number of subapertures and their relative spacings to arrive at …

Monte Carlo Simulation Of Multiple Photon Scattering In Sugar Maple Tree Canopies, Michael Greiner, Bradley Duncan, Matthew Dierking

Bradley D. Duncan

Detecting objects hidden beneath forest canopies is a difficult task for optical remote sensing systems. Rather than relying upon the existence of gaps between leaves, as other researchers have done, our ultimate goal is to use light scattered by leaves to image through dense foliage. Herein we describe the development of a Monte Carlo model for simulating the scattering of light as it propagates through the leaves of an extended tree canopy. We measured several parameters, including the gap fraction and maximum leaf-area density, of a nearby sugar maple tree grove and applied them to our model. We report the …

Improving Mid-Frequency Contrast In Sparse Aperture Optical Imaging Systems Based Upon The Golay-9 Array, Andrew Stokes, Bradley Duncan, Matthew Dierking

Bradley D. Duncan

Sparse aperture imaging systems are capable of producing high resolution images while maintaining an overall light collection area that is small compared to a fully filled aperture yielding the same resolution. This is advantageous for applications where size, volume, weight and/or cost are important considerations. However, conventional sparse aperture systems pay the penalty of reduced contrast at midband spatial frequencies. This paper will focus on increasing the midband contrast of sparse aperture imaging systems based on the Golay-9 array. This is one of a family of two-dimensional arrays we have previously examined due to their compact, non-redundant autocorrelations. The modulation …

Periodic, Pseudo-Noise Waveforms For Multi-Function Coherent Ladar, Matthew Dierking, Bradley Duncan

Bradley D. Duncan

We report the use of periodic, pseudonoise waveforms in a multifunction coherent ladar system. We exploit the Doppler sensitivity of these waveforms, as well as agile processing, to enable diverse ladar functions, including high range resolution imaging, macro-Doppler imaging, synthetic aperture ladar, and range-resolved micro-Doppler imaging. We present analytic expressions and simulations demonstrating the utility of pseudonoise waveforms for each of the ladar modes. We also discuss a laboratory pseudonoise ladar system that was developed to demonstrate range compression and range-resolved micro-Doppler imaging, as well as the phase recovery common to each of the coherent modes.

Holographic Aperture Ladar, Bradley Duncan, Matthew Dierking

Bradley D. Duncan

Holographic aperture ladar is a variant of synthetic aperture ladar that seeks to increase cross-range scene resolution by synthesizing a large effective aperture through the motion of a smaller receiver and through the subsequent proper phasing and correlation of the detected signals in postprocessing. Unlike in conventional synthetic aperture ladar, however, holographic aperture ladar makes use of a two- dimensional translating sensor array, not simply a translating point detector. Also unlike in conventional synthetic aperture ladar, holographic aperture images will be formed in the two orthogonal cross-range dimensions parallel and perpendicular to the sensor platform’s direction of motion. The central …

Experimental Demonstration Of A Stripmap Holographic Aperture Ladar System, Jason Stafford, Bradley Duncan, Matthew Dierking

Bradley D. Duncan

By synthesizing large effective apertures through the translation of a smaller imaging sensor and the subsequent proper phasing and correlation of detected signals in postprocessing, holographic aperture ladar (HAL) systems seek to increase the resolution of remotely imaged targets. The stripmap HAL process was demonstrated in the laboratory, for the first time to our knowledge. Our results show that the stripmap HAL transformation can precisely account for off-axis transmitter induced phase migrations. This in turn allows multiple pupil plane field segments, sequentially collected across a synthetic aperture, to be coherently mosaiced together. As a direct consequence, we have been able …

Review: 'Theory Of Dielectric Optical Waveguides,' 2nd Edition, By Dietrich Marcuse, Bradley D. Duncan

Bradley D. Duncan

I suppose I ought to say up front that while preparing this review I often found myself feeling very much like a student evaluating his teacher. After all, it was, in part, the first edition of Dietrich Marcuse's Theory of Dielectric Optical Waveguides (among a handful of other similar texts) from which I first studied the principles of optical waveguide theory under the demanding, yet patient and graceful guidance of Dr. Ahmad Safaai-Jazi. Thus with the utmost respect for a teacher whom I have never met, I shall try to faithfully share my thoughts and feelings regarding the second edition …

Modal Interference Techniques For Strain Detection In Few-Mode Optical Fibers, Bradley D. Duncan

Bradley D. Duncan

Interference between the modes of an optical fiber results in specific intensity patterns which can be modulated as a function of disturbances in the optical fiber system. These modulation effects are a direct result of the difference in propagation constants of the constituent modes. In this presentation it is shown how the modulated intensity patterns created by the interference of specific mode groups in few-mode optical fibers (V < 5.0) can be used to detect strain. A detailed discussion of the modal phenomena responsible for the observed strain induced pattern modulation is given and it is shown that strain detection sensitivities …

Effects Of Spatial Modes On Ladar Vibration Signature Estimation, Douglas Jameson, Matthew Dierking, Bradley Duncan

Bradley D. Duncan

Ladar-based vibrometry has been shown to be a powerful technique in enabling the plant identification of machines. Rather than sensing the geometric shape of a target laser vibrometers sense motions of the target induced by moving parts within the system. Since the target need not be spatially resolved, vibration can be sensed reliably and provide positive identification at ranges beyond the imaging limits of the aperture. However, as the range of observation increases, the diffraction-limited beam size on the target increases as well, and may encompass multiple vibrational modes on the target's surface. As a result, vibration estimates formed from …

Bidirectional Scattering Distribution Functions Of Maple And Cottonwood Leaves, Michael Greiner, Bradley Duncan, Matthew Dierking

Bradley D. Duncan

We present our investigations into the optical scattering properties of both sugar maple (Acer saccarum) and eastern cottonwood (Populus deltoides) leaves in the near-IR wavelength regime. The bidirectional scattering distribution function (BSDF) describes the fractions of light reflected by and transmitted through a leaf for a given set of illumination and observation angles. Experiments were performed to measure the BSDF of each species at a discrete set of illumination and observation angles. We then modeled the BSDFs in such a way that other researchers may interpolate their values for scattering in any direction under illumination at any angle.

Demonstrated Resolution Enhancement Capability Of A Stripmap Holographic Aperture Ladar System, Samuel Venable, Bradley Duncan, Matthew Dierking, David Rabb

Bradley D. Duncan

Holographic aperture ladar (HAL) is a variant of synthetic aperture ladar (SAL). The two processes are related in that they both seek to increase cross-range (i.e., the direction of the receiver translation) image resolution through the synthesis of a large effective aperture. This is in turn achieved via the translation of a receiver aperture and the subsequent coherent phasing and correlation of multiple received signals. However, while SAL imaging incorporates a translating point detector, HAL takes advantage of a two-dimensional translating sensor array. For the research presented in this article, a side-looking stripmap HAL geometry was used to sequentially image …