Controls and Control Theory Commons^™

External Direct Sum Invariant Subspace And Decomposition Of Coupled Differential-Difference Equations, Keqin Gu, Huan Phan-Van

SIUE Faculty Research, Scholarship, and Creative Activity

This article discusses the invariant subspaces that are restricted to be external direct sums. Some existence conditions are presented that facilitate finding such invariant subspaces. This problem is related to the decomposition of coupled differential-difference equations, leading to the possibility of lowering the dimensions of coupled differential-difference equations. As has been well documented, lowering the dimension of coupled differential-difference equations can drastically reduce the computational time needed in stability analysis when a complete quadratic Lyapunov-Krasovskii functional is used. Most known ad hoc methods of reducing the order are special cases of this formulation.

Structured Invariant Subspace And Decomposition Of Systems With Time Delays And Uncertainties, Huan Phan-Van, Keqin Gu

SIUE Faculty Research, Scholarship, and Creative Activity

This article discusses invariant subspaces of a matrix with a given partition structure. The existence of a nontrivial structured invariant subspace is equivalent to the possibility of decomposing the associated system with multiple feedback blocks such that the feedback operators are subject to a given constraint. The formulation is especially useful in the stability analysis of time-delay systems using the Lyapunov-Krasovskii functional approach where computational efficiency is essential in order to achieve accuracy for large scale systems. The set of all structured invariant subspaces are obtained (thus all possible decompositions are obtained as a result) for the coupled differential-difference equations …

Development Of A Fish Robot Equipped With Novel 3d-Printed Soft Bending Actuators, Steven Steele, Jorge Diaz Rodriguez, Sharun Sripathy, Turaj Ashuri, Saleh Gharaie, Yusun Chang, Amir Ali Amiri Moghadam

Symposium of Student Scholars

This paper reports on design and fabrication of a novel soft fish robot. Application of soft actuators for the fish tail will generates continuum bending motion which resembles the natural motion of the fish. However, most soft actuator mechanisms are complex and have low efficiency. Thus, to address this issue we have developed a 3D printed soft bending actuator which can be actuated with an electromotor. The basic design idea of the soft bending actuator is explained, and iteration of the design showed to create the desired motion for the soft tail. The soft actuator has been successfully integrated with …

Establishing The Foundation To Robotize Complex Welding Processes Through Learning From Human Welders Based On Deep Learning Techniques, Rui Yu

Theses and Dissertations--Electrical and Computer Engineering

As the demand for customized, efficient, and high-quality production increases, traditional manufacturing processes are transforming into smart manufacturing with the aid of advancements in information technology, such as cyber-physical systems (CPS), the Internet of Things (IoT), big data, and artificial intelligence (AI). The key requirement for integration with these advanced information technologies is to digitize manufacturing processes to enable analysis, control, and interaction with other digitized components. The integration of deep learning algorithm and massive industrial data will be critical components in realizing this process, leading to enhanced manufacturing in the Future of Work at the Human-Technology Frontier (FW-HTF).

This …

Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng

All Dissertations

Multi-robot systems (MRS) can accomplish more complex tasks with two or more robots and have produced a broad set of applications. The presence of a human operator in an MRS can guarantee the safety of the task performing, but the human operators can be subject to heavier stress and cognitive workload in collaboration with the MRS than the single robot. It is significant for the MRS to have the provable correct task and motion planning solution for a complex task. That can reduce the human workload during supervising the task and improve the reliability of human-MRS collaboration. This dissertation relies …

Design And Control Of A Peristaltic Pump To Simulate Left Atrial Pressure In A Conductive Silicone Model, Jeremy Collins

Mechanical Engineering Undergraduate Honors Theses

According to the CDC, atrial fibrillation is responsible for more than 454,000 hospitalizations and approximately 158,000 deaths per year. A common treatment for atrial fibrillation is catheter ablation, a process in which a long flexible tube is guided through the femoral artery and to the source of arrhythmia in the heart, where it measures the electrical potential at various locations and converts problematic heart tissue to scar tissue via ablation. This paper details the design and control of a low-cost ($400) peristaltic pump system using repetitive control to replicate blood pressure in the left atrium in a conductive silicone model …

Optimal Nonlinear Pid Speed Control Based On Harmony Search For An Electric Vehicle, Mohamed Shamseldin, Mohamed Abdel Ghany, Yahia Hendawey

Future Engineering Journal

the paper presents an efficient scheme for a Nonlinear PID (NPID) controller to improve the dynamic response of the Electric Vehicle (EV). The objective of the proposed controller is to track accurately the reference speed selected by the driver of the EV. A MATLAB/Simulink model is established and validated for the considered EV to study the system performance. The proposed NPID controller has been investigated by comparing it with the traditional PID controller. The optimal parameters of Both the NPID and PID controllers were obtained using the Harmony Search (HS) optimization technique based on a cost function. The desired rise …

Dual-Axis Solar Tracker, Bryan Kennedy

All Undergraduate Projects

Renewable energies, and fuels that are not fossil fuel-based, are one of the prolific topics of debate in modern society. With climate change now becoming a primary focus for scientists and innovators of today, one of the areas for the largest amount of potential and growth is that of the capturing and utilization of Solar Energy. This method involves using a mechanical system to track the progression of the sun as it traverses the sky throughout the day. A dual-axis solar tracker such as the one designed and built for this project, can follow the sun both azimuthally and in …

Tabletop Mechanical Tester, Jamie Dombroski, Brian English, Richard Leffler, Andrew Shirk

Williams Honors College, Honors Research Projects

The need for hands-on and face-to-face experiences in the engineering classroom is very great. The equations, principles, and concepts can all be learned, but without the visual and tactile application, these don’t always sink in or become concrete. A small-scale tensile test machine was designed, sourced, manufactured, and tested for the purpose of being applied in classroom settings to provide this experience to engineering students. Extensive research was performed concerning tensile machines on the market, the essential elements of which are the load cell, grips, crosshead, extensometer, motor, and frame. The raw materials for the frame were purchased and drawings …

Design, Modeling And Control Of A Two-Wheel Balancing Robot Driven By Bldc Motors, Charles T. Refvem

Master's Theses

The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer. …

Design And Control Of Fiber Encapsulation Additive Manufacturing, Matt Saari

Mechanical Engineering Research Theses and Dissertations

This work presents the design, development, and analysis of the Fiber Encapsulation Additive Manufacturing (FEAM) system developed at the Laboratory for Additive Manufacturing Robotics \& Automation at the Lyle School of Engineering at Southern Methodist University. The innovation introduced by FEAM is the ability to insert a continuous fiber of different material into the flowing extrudate. Correctly positioning the fiber feed inside the extrudate while turning the fiber in arbitrary directions is a critical aspect of the technology. This will allow for the full exploitation of the capabilities of the FEAM technology to produce robotic components that actuate and sense. …

Creating A Computational Tool To Simulate Vibration Control For Piezoelectric Devices, Ahmet Ozkan Ozer, Emma J. Moore

Posters-at-the-Capitol

Piezoelectric materials have the unique ability to convert electrical energy to mechanical vibrations and vice versa. This project takes a stab to develop a reliable computational tool to simulate the vibration control of a novel “partial differential equation” model for a piezoelectric device, which is designed by integrating electric conducting piezoelectric layers constraining a viscoelastic layer to provide an active and lightweight intelligent structure. Controlling unwanted vibrations on piezoelectric devices (or harvesting energy from ambient vibrations) through piezoelectric layers has been the major focus in cutting-edge engineering applications such as ultrasonic welders and inchworms. The corresponding mathematical models for piezoelectric …

Easily Verifiable Controller Design With Application To Automotive Powertrains, Mohammad Reza Amini

Dissertations, Master's Theses and Master's Reports

Bridging the gap between designed and implemented model-based controllers is a major challenge in the design cycle of industrial controllers. This gap is mainly created due to (i) digital implementation of controller software that introduces sampling and quantization imprecisions via analog-to-digital conversion (ADC), and (ii) uncertainties in the modeled plant’s dynamics, which directly propagate through the controller structure. The failure to identify and handle these implementation and model uncertainties results in undesirable controller performance and costly iterative loops for completing the controller verification and validation (V&V) process.

This PhD dissertation develops a novel theoretical framework to design controllers that are …

Electromechanics Of An Ocean Current Turbine, Vasileios Tzelepis

University of New Orleans Theses and Dissertations

The development of a numeric simulation for predicting the performance of an Ocean Current Energy Conversion System is presented in this thesis along with a control system development using a PID controller for the achievement of specified rotational velocity set-points. In the beginning, this numeric model is implemented in MATLAB/Simulink® and it is used to predict the performance of a three phase squirrel single-cage type induction motor/generator in two different cases. The first case is a small 3 meter rotor diameter, 20 kW ocean current turbine with fixed pitch blades, and the second case a 20 …

Umass Amherst Green Building Guidelines 2013, Ludmilla Pavlova-Gillham, Ted Mendoza, Ezra Small, Patricia O'Flaherty, Nariman Mostafavi, Mohamed Farzinmoghadam, Somayeh Tabatabaee Pozveh

Ludmilla D Pavlova

Facilities & Campus Services, Sustainable UMass and Campus Planning support sustainability and energy conservation initiatives by providing in-house resources to campus staff as well as designers and contractors working with the University. The UMass Amherst Green Building Guidelines provide a framework for approaching new construction and major renovation projects at UMass Amherst that are undergoing LEED certification by focusing the conversation on green building aspects that are most important to the campus. They are intended to be the beginning of a dynamic conversation between designers, environmental consultants and constructors, university stakeholders, and users of new high performance buildings.

Dynamic Simulation And Neuromuscular Control Of Movement: Applications For Predictive Simulations Of Balance Recovery, Misagh Mansouri Boroujeni

Doctoral Dissertations

Balance is among the most challenging tasks for patients with movement disorders. Study and treatment of these disorders could greatly benefit from combined software tools that offer better insights into neuromuscular biomechanics, and predictive capabilities for optimal surgical and rehabilitation treatment planning. A platform was created to combine musculoskeletal modeling, closed-loop forward dynamic simulation, optimization techniques, and neuromuscular control system design. Spinal (stretch-reflex) and supraspinal (operational space task-based) controllers were developed to test simulation-based hypotheses related to balance recovery and movement control. A corrective procedure (rectus femoris transfer surgery) was targeted for children experiencing stiff-knee gait and how this procedure …

Applying Spiking Neural Network Simulation To Neuromodulatory Autonomous Robot Control, Cameron Muhammad

Phi Kappa Phi Research Symposium (2012-2016)

In this paper, simulation of the brain based on an artificial spiking neuron model is used to create a self-learning algorithm. The spiking neuron simulation is used to demonstrate a neuromodulation program in which the reward seeking properties of dopamine, the risk-adverse effects of serotonin, and the attention-focusing effects of the cholinergic and noradrenergic systems are applied to a mobile robotic platform as it moves autonomously throughout an environment. External stimuli is recorded by the program as spiking “events” that result in corresponding amounts of dopamine and serotonin influenced spiking patterns. These spiking patterns affect how the robot adapts to …

Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena

Abhijit Saxena

In microsurgery, the human hand imposes certain limitations in accurately positioning the tip of a device such as scalpel. Any errors in the motion of the hand make microsurgical procedures difficult and involuntary motions such as hand tremors can make some procedures significantly difficult to perform. This is particularly true in the case of vitreoretinal microsurgery. The most familiar source of involuntary motion is physiological tremor. Real-time compensation of tremor is, therefore, necessary to assist surgeons to precisely position and manipulate the tool-tip to accurately perform a microsurgery. In this thesis, a novel handheld device (AID) is described for compensation …

Wireless Transmission Network : A Imagine, Radhey Shyam Meena Engineer, Neeraj Kumar Garg Asst.Prof

Radhey Shyam Meena

World cannot be imagined without electrical power. Generally the power is transmitted through transmission networks. This paper describes an original idea to eradicate the hazardous usage of electrical wires which involve lot of confusion in particularly organizing them. Imagine a future in which wireless power transfer is feasible: cell phones, household robots, mp3 players, laptop computers and other portable electronic devices capable of charging themselves without ever being plugged in freeing us from that final ubiquitous power wire. This paper includes the techniques of transmitting power without using wires with an efficiency of about 95% with non-radioactivemethods. In this paper …

Battery Energy Storage System In Solar Power Generation, Radhey Shyam Meena Er., Deepa Sharma

Radhey Shyam Meena

Grid-connected solar PV dramatically changes the load profile of an electric utility customer. The expected widespread adoption of solar generation by customers on the distribution system poses significant challenges to system operators both in transient and steady state operation, from issues including voltage swings, sudden weather-induced changes in generation, and legacy protective devices designed with one-way power flow in mind

Green Scheduling For Radiant Systems In Buildings, Truong X. Nghiem, Madhur Behl, George J. Pappas, Rahul Mangharam

Truong X Nghiem

In this report we look at the problem of peak power reduction for buildings with electric radiant floor heating systems. Uncoordinated operation of a multi-zone radiant floor heating system can result in temporally correlated electricity demand surges or peaks in the building’s electricity consumption. As peak power prices are 200-400 times that of the nominal rate, this uncoordinated activity can result in high electricity costs and expensive system operation. We have previously presented green scheduling as an approach for reducing the aggregate peak power consumption in buildings while ensuring that indoor thermal comfort is always maintained. This report extends the …

Battery Energy Storage System In Solar Power Generation, Radhey Shyam Meena Er.

Radhey Shyam Meena

As solar photovoltaic power generation becomes more commonplace, the inherent intermittency of the solar resource poses one of the great challenges to those who would design and implement the next generation smart grid. Specifically, grid-tied solar power generation is a distributed resource whose output can change extremely rapidly, resulting in many issues for the distribution system operator with a large quantity of installed photovoltaic devices. Battery energy storage systems are increasingly being used to help integrate solar power into the grid. These systems are capable of absorbing and delivering both real and reactive power with sub-second response times. With these …

Umass Amherst Green Building Guidelines 2013, Ludmilla Pavlova-Gillham, Ted Mendoza, Ezra Small, Patricia O'Flaherty, Nariman Mostafavi, Mohamed Farzinmoghadam, Somayeh Tabatabaee Pozveh

Campus Planning Reports and Plans

Facilities & Campus Services, Sustainable UMass and Campus Planning support sustainability and energy conservation initiatives by providing in-house resources to campus staff as well as designers and contractors working with the University. The UMass Amherst Green Building Guidelines provide a framework for approaching new construction and major renovation projects at UMass Amherst that are undergoing LEED certification by focusing the conversation on green building aspects that are most important to the campus. They are intended to be the beginning of a dynamic conversation between designers, environmental consultants and constructors, university stakeholders, and users of new high performance buildings.

Active Optimal Control Strategies For Increasing The Efficiency Of Photovoltaic Cells, Sharif Aljoaba

Theses and Dissertations--Electrical and Computer Engineering

Energy consumption has increased drastically during the last century. Currently, the worldwide energy consumption is about 17.4 TW and is predicted to reach 25 TW by 2035. Solar energy has emerged as one of the potential renewable energy sources. Since its first physical recognition in 1887 by Adams and Day till nowadays, research in solar energy is continuously developing. This has lead to many achievements and milestones that introduced it as one of the most reliable and sustainable energy sources. Recently, the International Energy Agency declared that solar energy is predicted to be one of the major electricity production energy …

Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena

Electronic Thesis and Dissertation Repository

In microsurgery, the human hand imposes certain limitations in accurately positioning the tip of a device such as scalpel. Any errors in the motion of the hand make microsurgical procedures difficult and involuntary motions such as hand tremors can make some procedures significantly difficult to perform. This is particularly true in the case of vitreoretinal microsurgery. The most familiar source of involuntary motion is physiological tremor. Real-time compensation of tremor is, therefore, necessary to assist surgeons to precisely position and manipulate the tool-tip to accurately perform a microsurgery. In this thesis, a novel handheld device (AID) is described for compensation …

Green Scheduling For Radiant Systems In Buildings, Truong X. Nghiem, Madhur Behl, George J. Pappas, Rahul Mangharam

Madhur Behl

In this report we look at the problem of peak power reduction for buildings with electric radiant floor heating systems. Uncoordinated operation of a multi-zone radiant floor heating system can result in temporally correlated electricity demand surges or peaks in the building’s electricity consumption. As peak power prices are 200-400 times that of the nominal rate, this uncoordinated activity can result in high electricity costs and expensive system operation. We have previously presented green scheduling as an approach for reducing the aggregate peak power consumption in buildings while ensuring that indoor thermal comfort is always maintained. This report extends the …

Switch Yard Operation In Thermal Power Plant(Katpp Jhalawar Rajasthan), Radhey Shyam Meena Er.

Radhey Shyam Meena

Switchyard Provides the facilities for switching ,protection & Control of electric power. To handle high Voltage power with proper Safety measures. To isolate the noises coming from the grid with true 50Hz power SWITCH YARD IS IMPORTANT PART IN THERMAL PLANT. IN KALISINDH THERMAL 400KV AND 220KV SWITCH YARD LOCATED.

Adaptive Kriging Controller Design For Hypersonic Flight Vehicle Via Back-Stepping, Bin Xu

Bin Xu

No abstract provided.

Direct Neural Discrete Control Of Hypersonic Flight Vehicle, Bin Xu

Bin Xu

No abstract provided.

Adaptive Discrete-Time Controller Design With Neural Network For Hypersonic Flight Vehicle Via Back-Stepping, Bin Xu

Bin Xu

In this article, the adaptive neural controller in discrete time is investigated for the longitudinal dynamics of a generic hypersonic flight vehicle. The dynamics are decomposed into the altitude subsystem and the velocity subsystem. The altitude subsystem is transformed into the strict-feedback form from which the discrete-time model is derived by the first-order Taylor expansion. The virtual control is designed with nominal feedback and neural network (NN) approximation via back-stepping. Meanwhile, one adaptive NN controller is designed for the velocity subsystem. To avoid the circular construction problem in the practical control, the design of coefficients adopts the upper bound instead …