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Articles 1 - 30 of 75
Full-Text Articles in Controls and Control Theory
Complete Solution Of The Lady In The Lake Scenario, Alexander Von Moll, Meir Pachter
Complete Solution Of The Lady In The Lake Scenario, Alexander Von Moll, Meir Pachter
Faculty Publications
In the Lady in the Lake scenario, a mobile agent, L, is pitted against an agent, M, who is constrained to move along the perimeter of a circle. L is assumed to begin inside the circle and wishes to escape to the perimeter with some finite angular separation from M at the perimeter. This scenario has, in the past, been formulated as a zero-sum differential game wherein L seeks to maximize terminal separation and M seeks to minimize it. Its solution is well-known. However, there is a large portion of the state space for which the canonical solution does not …
On The Synthesis Of Optimal Control Laws, Meir Pachter, Isaac E. Weintraub
On The Synthesis Of Optimal Control Laws, Meir Pachter, Isaac E. Weintraub
Faculty Publications
In this paper we advocate for Isaacs' method for the solution of differential games to be applied to the solution of optimal control problems. To make the argument, the vehicle employed is Pontryagin's canonical optimal control example, which entails a double integrator plant. However, rather than controlling the state to the origin, we correctly require the end state to reach a terminal set that contains the origin in its interior. Indeed, in practice, it is required to control to a prescribed tolerance rather than reach a desired end state; achieving tight tolerances is expensive, and from a theoretical point of …
Evaluating Testing Procedures For Openflow Controller Network Re-Provisioning Time, Steven J. Jensen
Evaluating Testing Procedures For Openflow Controller Network Re-Provisioning Time, Steven J. Jensen
Theses and Dissertations
Software-Defined Networking promises several advantages over traditional networking architectures, but has seen little adoption. Recently codified controller evaluation methodologies have seen little validation without strong statistical analysis of the results. The research developed an environment testing implementing a published Network Re-provisioning Time methodology to evaluate five OpenFlow controllers. The methodology is strong with required parameters but had issues with some edge cases. Further refinement and adding a convergence metric may close the gaps.
Optimal Defense Of High Value Airborne Assets, Isaac E. Weintraub
Optimal Defense Of High Value Airborne Assets, Isaac E. Weintraub
Theses and Dissertations
Optimal control theory and differential game theory is applied to the study of the defense of high value airborne assets, particularly in the case of a single threat such as an adversarial aircraft or missile. Rather than utilizing onboard defenses of the high value airborne asset, defense is proposed using a teamed unmanned combat air vehicle. The common scenario throughout this dissertation involves the defense of a high value airborne asset (evader) teamed with an unmanned combat vehicle (defender) against a single threat (pursuer). The unmanned combat air vehicle (defender), provides defense in one of two ways: kinetic or directed …
Using Motion Capture And Augmented Reality To Test Aar With Boom Occlusion, Vincent J. Bownes
Using Motion Capture And Augmented Reality To Test Aar With Boom Occlusion, Vincent J. Bownes
Theses and Dissertations
The operational capability of drones is limited by their inability to perform aerial refueling. This can be overcome by automating the process with a computer vision solution. Previous work has demonstrated the feasibility of automated aerial refueling (AAR) in simulation. To progress this technique to the real world, this thesis conducts experiments using real images of a physical aircraft replica and a motion capture system for truth data. It also compares the error between the real and virtual experiments to validate the fidelity of the simulation. Results indicate that the current technique is effective on real images and that the …
Resilience For Multi-Filter All-Source Navigation Framework With Integrity, Jonathon S. Gipson, Robert C. Leishman
Resilience For Multi-Filter All-Source Navigation Framework With Integrity, Jonathon S. Gipson, Robert C. Leishman
Faculty Publications
The Autonomous and Resilient Management of All-source Sensors (ARMAS) framework monitors residual-space test statistics across unique sensor-exclusion banks of filters, (known as subfilters) to provide a resilient, fault-resistant all-source navigation architecture with assurance. A critical assumption of this architecture, demonstrated in this paper, is fully overlapping state observability across all subfilters. All-source sensors, particularly those that only provide partial state information (altimeters, TDoA, AOB, etc.) do not intrinsically meet this requirement.
This paper presents a novel method to monitor real-time overlapping position state observability and introduces an "observability bank" within the ARMAS framework, known as Stable Observability Monitoring (SOM). SOM …
Deep Learning-Based, Passive Fault Tolerant Control Facilitated By A Taxonomy Of Cyber-Attack Effects, Dean C. Wardell
Deep Learning-Based, Passive Fault Tolerant Control Facilitated By A Taxonomy Of Cyber-Attack Effects, Dean C. Wardell
Theses and Dissertations
In the interest of improving the resilience of cyber-physical control systems to better operate in the presence of various cyber-attacks and/or faults, this dissertation presents a novel controller design based on deep-learning networks. This research lays out a controller design that does not rely on fault or cyber-attack detection. Being passive, the controller’s routine operating process is to take in data from the various components of the physical system, holistically assess the state of the physical system using deep-learning networks and decide the subsequent round of commands from the controller. This use of deep-learning methods in passive fault tolerant control …
An Analytic Study Of Pursuit Strategies, Mark E. Vlassakis
An Analytic Study Of Pursuit Strategies, Mark E. Vlassakis
Theses and Dissertations
The Two-on-One pursuit-evasion differential game is revisited where the holonomic players have equal speed, and the two pursuers are endowed with a circular capture range ℓ > 0. Then, the case where the pursuers' capture ranges are unequal, ℓ1 > ℓ2 ≥ 0, is analyzed. In both cases, the state space region where capture is guaranteed is delineated and the optimal feedback strategies are synthesized. Next, pure pursuit is considered whereupon the terminal separation between a pursuer and an equal-speed evader less than the pursuer's capture range ℓ > 0. The case with two pursuers employing pure pursuit is considered, and …
Multiple Pursuer Multiple Evader Differential Games, Eloy Garcia, David Casbeer, Alexander Von Moll, Meir Pachter
Multiple Pursuer Multiple Evader Differential Games, Eloy Garcia, David Casbeer, Alexander Von Moll, Meir Pachter
Faculty Publications
In this paper an N-pursuer vs. M-evader team conflict is studied. The differential game of border defense is addressed and we focus on the game of degree in the region of the state space where the pursuers are able to win. This work extends classical differential game theory to simultaneously address weapon assignments and multi-player pursuit-evasion scenarios. Saddle-point strategies that provide guaranteed performance for each team regardless of the actual strategies implemented by the opponent are devised. The players' optimal strategies require the co-design of cooperative optimal assignments and optimal guidance laws. A representative measure of performance is proposed and …
Active Control Of A Morphing Wing Aircraft And Failure Analysis For System Reliability, Madison J. Montgomery
Active Control Of A Morphing Wing Aircraft And Failure Analysis For System Reliability, Madison J. Montgomery
Theses and Dissertations
A morphing wing aircraft has the ability to increase the efficiency of an aircraft by better optimizing lift and drag characteristics during a flight. A morphing wing UAV was designed and constructed by AFRL/RQVS and required a means of control and method of characterizing the performance of the aircraft through flight testing. This research presents the design and construction of a control system capable of adjusting the morphing wing shape based on pilot commands and current flight status. The control system was tested and improved following a flight test crash utilizing failure mode analysis.
Two-On-One Pursuit With A Non-Zero Capture Radius, Patrick J. Wasz
Two-On-One Pursuit With A Non-Zero Capture Radius, Patrick J. Wasz
Theses and Dissertations
In this paper, we revisit the "Two Cutters and Fugitive Ship" differential game that was addressed by Isaacs, but move away from point capture. We consider a two-on-one pursuit-evasion differential game with simple motion and pursuers endowed with circular capture sets of radius l > 0. The regions in the state space where only one pursuer effects the capture and the region in the state space where both pursuers cooperatively and isochronously capture the evader are characterized, thus solving the Game of Kind. Concerning the Game of Degree, the algorithm for the synthesis of the optimal state feedback strategies of the …
Side Channel Anomaly Detection In Industrial Control Systems Using Physical Characteristics Of End Devices, Ryan D. Harris
Side Channel Anomaly Detection In Industrial Control Systems Using Physical Characteristics Of End Devices, Ryan D. Harris
Theses and Dissertations
Industrial Control Systems (ICS) are described by the Department of Homeland Security as systems that are so \vital to the United States that their incapacity or destruction would have a debilitating impact on our physical or economic security." Attacks like Stuxnet show that these systems are vulnerable. The end goal for Stuxnet was to spin centrifuges at a frequency rate outside of normal operation and hide its activity from the ICS operator. This research aims to provide a proof of concept for an anomaly detection system that would be able to detect an attack like Stuxnet by measuring the physical …
Physical Layer Discrimination Of Electronic Control Units Using Wired Signal Distinct Native Attribute (Ws-Dnda), Rahn M. Lassiter
Physical Layer Discrimination Of Electronic Control Units Using Wired Signal Distinct Native Attribute (Ws-Dnda), Rahn M. Lassiter
Theses and Dissertations
The Controller Area Network (CAN) bus is a communication system used in automobiles to connect the electronic components required for critical vehicle operations. These components are called Electronic Control Units (ECU) and each one exercises one or more functions within the vehicle. ECUs can provide autonomous safety features and increased comfort to drivers but these advancements may come at the expense of vehicle security. Researchers have shown that the CAN bus can be hacked by compromising authorized ECUs or by physically connecting unauthorized devices to the bus. Physical layer (PHY) device fingerprinting has emerged as one of the accepted approaches …
Real-Time Path Planning In Constrained, Uncertain Environments, Randall Christensen, Robert C. Leishman
Real-Time Path Planning In Constrained, Uncertain Environments, Randall Christensen, Robert C. Leishman
Faculty Publications
A key enabler of autonomous vehicles is the ability to plan the path of the vehicle to accomplish mission objectives. To be robust to realistic environments, path planners must account for uncertainty in the trajectory of the vehicle as well as uncertainty in the location of obstacles. The uncertainty in the trajectory of the vehicle is a difficult quantity to estimate, and is influenced by coupling between the vehicle dynamics, guidance, navigation, and control system as well as any disturbances acting on the vehicle. Monte Carlo analysis is the conventional approach to determine vehicle dispersion, while accounting for the coupled …
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles, Robert C. Leishman, Jeremy Gray, John F. Raquet, Adam Rutkowski
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles, Robert C. Leishman, Jeremy Gray, John F. Raquet, Adam Rutkowski
Faculty Publications
Investigating alternative navigation approaches for use when GPS signals are unavailable is an active area of research across the globe. In this paper we focus on the navigation of small, fixed-wing unmanned aerial vehicles (UAVs) that employ vision-based approaches combined with other measurements as a replacement for GPS. We demonstrate with flight test data that vehicle attitude information, derived from cheap, MEMS-based IMUs is sufficient to improve two different types of vision processing algorithms. Secondly, we show analytically and with flight test data that range measurements to one other vehicle with global pose is sufficient to constrain the global drift …
Securing Critical Infrastructure: A Ransomware Study, Blaine M. Jeffries
Securing Critical Infrastructure: A Ransomware Study, Blaine M. Jeffries
Theses and Dissertations
This thesis reviews traditional ransomware attack trends in order to present a taxonomy for ransomware targeting industrial control systems. After reviewing a critical infrastructure ransomware attack methodology, a corresponding response and recovery plan is described. The plan emphasizes security through redundancy, specifically the incorporation of standby programmable logic controllers. This thesis goes on to describe a set of experiments conducted to test the viability of defending against a specialized ransomware attack with a redundant controller network. Results support that specific redundancy schemes are effective in recovering from a successful attack. Further experimentation is conducted to test the feasibility of industrial …
Variable Speed Simulation For Accelerated Industrial Control System Cyber Training, Luke M. Bradford
Variable Speed Simulation For Accelerated Industrial Control System Cyber Training, Luke M. Bradford
Theses and Dissertations
It is important for industrial control system operators to receive quality training to defend against cyber attacks. Hands-on training exercises with real-world control systems allow operators to learn various defensive techniques and see the real-world impact of changes made to a control system. Cyber attacks and operator actions can have unforeseen effects that take a significant amount of time to manifest and potentially cause physical harm to the system, making high-fidelity training exercises time-consuming and costly. This thesis presents a method for accelerating training exercises by simulating and predicting the effects of a cyber event on a partially-simulated control system. …
Defender-Assisted Evasion And Pursuit Maneuvers, Roger S. Anderson
Defender-Assisted Evasion And Pursuit Maneuvers, Roger S. Anderson
Theses and Dissertations
Motivated by the possibilities afforded by active target defense, a 3-agent pursuit-evasion differential game involving an Attacker/Pursuer, a Target/Evader, and a Defender is considered. The Defender strives to assist the Target by intercepting the Attacker before the latter reaches the Target. A barrier surface in a reduced state space separates the winning regions of the Attacker and Target-Defender team. In this thesis, attention focuses primarily on the Attacker's region of win where, under optimal Attacker play, the Defender cannot preclude the Attacker from capturing the Target. Both optimal and suboptimal strategies are investigated. This thesis uses several methods to breakdown …
A Framework For Categorization Of Industrial Control System Cyber Training Environments, Evan G. Plumley
A Framework For Categorization Of Industrial Control System Cyber Training Environments, Evan G. Plumley
Theses and Dissertations
First responders and professionals in hazardous occupations undergo training and evaluations for the purpose of mitigating risk and damage. For example, helicopter pilots train with multiple categorized simulations that increase in complexity before flying a real aircraft. However in the industrial control cyber incident response domain, where incident response professionals help detect, respond and recover from cyber incidents, no official categorization of training environments exist. To address this gap, this thesis provides a categorization of industrial control training environments based on realism. Four levels of environments are proposed and mapped to Blooms Taxonomy. This categorization will help organizations determine which …
Firmware Counterfeiting And Modification Attacks On Programmable Logic Controllers, Zachary H. Basnight
Firmware Counterfeiting And Modification Attacks On Programmable Logic Controllers, Zachary H. Basnight
Theses and Dissertations
Recent attacks on industrial control systems (ICSs), like the highly publicized Stuxnet malware, have perpetuated a race to the bottom where lower level attacks have a tactical advantage. Programmable logic controller (PLC) firmware, which provides a software-driven interface between system inputs and physically manifested outputs, is readily open to modification at the user level. Current efforts to protect against firmware attacks are hindered by a lack of prerequisite research regarding details of attack development and implementation. In order to obtain a more complete understanding of the threats posed by PLC firmware counterfeiting and the feasibility of such attacks, this research …
Emulation Of Industrial Control Field Device Protocols, Robert M. Jaromin
Emulation Of Industrial Control Field Device Protocols, Robert M. Jaromin
Theses and Dissertations
It has been shown that thousands of industrial control devices are exposed to the Internet, however, the extent and nature of attacks on such devices remains unknown. The first step to understanding security problems that face modern supervisory control and data acquisition (SCADA) and industrial controls networks is to understand the various attacks launched on Internet-connected field devices. This thesis describes the design and implementation of an industrial control emulator on a Gumstix single-board computer as a solution. This emulator acts as a decoy field device, or honeypot, intended to be probed and attacked via an Internet connection. Evaluation techniques …
Creating A Network Model For The Integration Of Dynamic And Static Supervisory Control And Data Acquisition (Scada) Test Environment, Marlon Coerbell
Creating A Network Model For The Integration Of Dynamic And Static Supervisory Control And Data Acquisition (Scada) Test Environment, Marlon Coerbell
Theses and Dissertations
Since 9/11 protecting our critical infrastructure has become a national priority. Presidential Decision Directive 63 mandates and lays a foundation for ensuring all aspects of our nation's critical infrastructure remain secure. Key in this debate is the fact that much of our electrical power grid fails to meet the spirit of this requirement. My research leverages the power afforded by Electric Power and Communication Synchronizing Simulator (EPOCHS) developed with the assistance of Dr. Hopkinson, et al. The power environment is modeled in an electrical simulation environment called PowerWorld©. The network is modeled in OPNET® and populated with self-similar network and …
Architectural Considerations For Single Operator Management Of Multiple Unmanned Aerial Vehicles, Gabriel T. Bugajski
Architectural Considerations For Single Operator Management Of Multiple Unmanned Aerial Vehicles, Gabriel T. Bugajski
Theses and Dissertations
Recently, small Unmanned Aircraft Systems (UAS) have become ubiquitous in military battlefield operations due to their intelligence collection capabilities. However, these unmanned systems consistently demonstrate limitations and shortfalls with respect to size, weight, range, line of sight and information management. The United States Air Force Unmanned Aircraft Systems Flight Plan 2009-2047 describes an action plan for improved UAS employment which calls out single operator, multi-vehicle mission configurations. This thesis analyzes the information architecture using future concepts of operations, such as biologically-inspired flocking mechanisms. The analysis and empirical results present insight into the engineering of single-operator multiple-vehicle architectures.
Multi-Objective Constraint Satisfaction For Mobile Robot Area Defense, Kenneth W. Mayo
Multi-Objective Constraint Satisfaction For Mobile Robot Area Defense, Kenneth W. Mayo
Theses and Dissertations
In developing multi-robot cooperative systems, there are often competing objectives that need to be met. For example in automating area defense systems, multiple robots must work together to explore the entire area, and maintain consistent communications to alert the other agents and ensure trust in the system. This research presents an algorithm that tasks robots to meet the two specific goals of exploration and communication maintenance in an uncoordinated environment reducing the need for a user to pre-balance the objectives. This multi-objective problem is defined as a constraint satisfaction problem solved using the Non-dominated Sorting Genetic Algorithm II (NSGA-II). Both …
Preliminary Electrical Designs For Ctex And Afit Satellite Ground Station, Arthur L. Morse
Preliminary Electrical Designs For Ctex And Afit Satellite Ground Station, Arthur L. Morse
Theses and Dissertations
This thesis outlines the design of the electrical components for the space-based ChromoTomography Experiment (CTEx). CTEx is the next step in the development of high-speed chromotomography at the Air Force Institute of Technology. The electrical design of the system is challenging due to the large amount of data that is acquired by the imager and the limited resources that is inherent with space-based systems. Additional complication to the design is the need to know the angle of a spinning prism that is in the field of view very precisely for each image. Without this precise measurement any scene that is …
Decisive Routing And Admission Control According To Quality Of Service Constraints, Cindy C. Reese
Decisive Routing And Admission Control According To Quality Of Service Constraints, Cindy C. Reese
Theses and Dissertations
This research effort examines, models, and proposes options to enhance command and control for decision makers when applied to the communications network. My goal is to research the viability of combining three students’ past research efforts and expanding and enhancing those efforts. The area of this research is predicting a snapshot of the communications network, context-aware routing between network nodes, and Quality of Service-based routing optimization in order to create an intelligent routing protocol platform. It will consolidate efforts from an Intelligent Agent Based Framework to Maximize Information Utility by Captain John Pecarina, Dialable Cryptography for Wireless Networks by Major …
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Theses and Dissertations
Robots of varying autonomy have been used to take the place of humans in dangerous tasks. While robots are considered more expendable than human beings, they are complex to develop and expensive to replace if lost. Recent technological advances produce small, inexpensive hardware platforms that are powerful enough to match robots from just a few years ago. There are many types of autonomous control architecture that can be used to control these hardware platforms. One in particular, the Unified Behavior Framework, is a flexible, responsive control architecture that is designed to simplify the control system’s design process through behavior module …
Centralized Cooperative Control For Route Surveillance With Constant Communication, Joseph D. Rosal
Centralized Cooperative Control For Route Surveillance With Constant Communication, Joseph D. Rosal
Theses and Dissertations
The route surveillance mission is a new application of unmanned aircraft systems (UASs) to meet the reconnaissance and surveillance requirements of combatant commanders. The new mission intends to field a UAS consisting of unmanned aerial vehicles (UAVs) that can provide day and night surveillance of convoy routes. This research focuses on developing a solution strategy for the mission based on the application of optimal control and cooperative control theory. The route surveillance controller uses the UAS team size to divide the route into individual sectors for each entity. A specifically designed cost function and path constraints are used to formulate …
Model-Based Control Using Model And Mechanization Fusion Techniques For Image-Aided Navigation, Constance D. Hendrix
Model-Based Control Using Model And Mechanization Fusion Techniques For Image-Aided Navigation, Constance D. Hendrix
Theses and Dissertations
Unmanned aerial vehicles are no longer used for just reconnaissance. Current requirements call for smaller autonomous vehicles that replace the human in high-risk activities. Many times these activities are performed in GPS-degraded environments. Without GPS providing today's most accurate navigation solution, autonomous navigation in tight areas is more difficult. Today, image-aided navigation is used and other methods are explored to more accurately navigate in such areas (e.g., indoors). This thesis explores the use of inertial measurements and navigation solution updates using cameras with a model-based Linear Quadratic Gaussian controller. To demonstrate the methods behind this research, the controller will provide …
Stochastic Estimation And Control Of Queues Within A Computer Network, Mingook Kim
Stochastic Estimation And Control Of Queues Within A Computer Network, Mingook Kim
Theses and Dissertations
Captain Nathan C. Stuckey implemented the idea of the stochastic estimation and control for network in OPNET simulator. He used extended Kalman filter to estimate packet size and packet arrival rate of network queue to regulate queue size. To validate stochastic theory, network estimator and controller is designed by OPNET model. These models validated the transient queue behavior in OPNET and work of Kalman filter by predicting the queue size and arrival rate. However, it was not enough to verify a theory by experiment. So, it needed to validate the stochastic control theory with other tools to get high validity. …