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Articles 1 - 17 of 17
Full-Text Articles in Controls and Control Theory
Adaptive Personalized Drug Delivery Method For Warfarin And Anemia Management: Modeling And Control., Affan Affan
Adaptive Personalized Drug Delivery Method For Warfarin And Anemia Management: Modeling And Control., Affan Affan
Electronic Theses and Dissertations
Personalized precision medicine aims to develop the appropriate treatments for suitable patients at the right time to obtain optimal results. Personalized medicine is challenging due to inter- and intra-patient variability, narrow therapeutic window, the effect of other medications, comorbidity (more than one disease at a time), nonlinear patient dynamics, and time-varying patient dose response characteristics which include bleeding (internal and external). This research aims to develop a framework for an adaptive personalized modeling and control method with minimum clinical patient specific dose response data for optimal drug dosing. The proposed methodology is applied to anemia and warfarin management. It is …
Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang
Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang
Electronic Theses and Dissertations
Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …
Nonlinear Observers For Burning Zone Temperatures And Torque Estimation Of The Rotary Cement Kiln., Bhagyashri Aditya Bhagwat
Nonlinear Observers For Burning Zone Temperatures And Torque Estimation Of The Rotary Cement Kiln., Bhagyashri Aditya Bhagwat
Electronic Theses and Dissertations
Due to consistent expansion in the infrastructure and housing sectors worldwide have given a new way for the rapid growth of global cement market. Increased global demand for the cement production makes the attractive research topic which can lead to the quality and overall efficiency of the product. Measurement of the temperature in the burning zone is vital to maintain product quality and kiln efficiency in the cement industry. Often the BZT is un-measurable due to internal kiln conditions, dusty environment, extreme heat, harshness for example and this leads to kiln not being driven as efficient as possible. Multi-physics tools …
Automatic Testing Of Organic Strain Gauge Tactile Sensors., Brian P. Goulet
Automatic Testing Of Organic Strain Gauge Tactile Sensors., Brian P. Goulet
Electronic Theses and Dissertations
Human-Robot Interaction is a developing field of science, that is posed to augment everything we do in life. Skin sensors that can detect touch, temperature, distance, and other physical interaction parameters at the human-robot interface are very important to enhancing the collaboration between humans and machines. As such, these sensors must be efficiently tested and characterized to give accurate feedback from the sensor to the robot. The objective of this work is to create a diversified software testing suite that removes as much human intervention as possible. The tests and methodology discussed here provide multiple realistic scenarios that the sensors …
Collaborative Human-Machine Interfaces For Mobile Manipulators., Shamsudeen Olawale Abubakar
Collaborative Human-Machine Interfaces For Mobile Manipulators., Shamsudeen Olawale Abubakar
Electronic Theses and Dissertations
The use of mobile manipulators in service industries as both agents in physical Human Robot Interaction (pHRI) and for social interactions has been on the increase in recent times due to necessities like compensating for workforce shortages and enabling safer and more efficient operations amongst other reasons. Collaborative robots, or co-bots, are robots that are developed for use with human interaction through direct contact or close proximity in a shared space with the human users. The work presented in this dissertation focuses on the design, implementation and analysis of components for the next-generation collaborative human machine interfaces (CHMI) needed for …
Adaptive Control And Parameter-Dependent Anti-Windup Compensation For Inertia Varying Quadcopters., Benjamin Edwards Farber
Adaptive Control And Parameter-Dependent Anti-Windup Compensation For Inertia Varying Quadcopters., Benjamin Edwards Farber
Electronic Theses and Dissertations
A novel parameter-dependent anti-windup compensator is developed to improve the performance of a saturation constrained model reference adaptive controller. The combined control structure solves the input saturation and stability problem for inertia varying quadcopters. The control synthesis follows the conventional two-step anti-windup design paradigm where a nominal controller is designed without consideration of the input saturation, and the anti-windup compensator is designed to minimize deviations from nominal performance caused by saturated inputs. To account for varying inertia of the quadcopter during package retrieval/delivery routines, the inertia parameters of the vehicle/package are estimated with an online recursive system identification technique, and …
Nonlinear Control And Observation Of Full-Variable Speed Wind Turbine Systems., Nicholas Hawkins
Nonlinear Control And Observation Of Full-Variable Speed Wind Turbine Systems., Nicholas Hawkins
Electronic Theses and Dissertations
With increasing concern for the environmental effects of power generation from fossil fuels, wind energy is a competitive source for electrical power with higher efficiency than other clean sources. However, the nature of this power source makes controlling wind turbines difficult. The variability of wind as a source either requires highly accurate measurement equipment or sophisticated mathematical alternatives. In addition to the unknown quantities of the weather itself, the efficiency of power capture at the turbine blades is highly nonlinear in nature and difficult to ascertain. The ability of either determine these troublesome quantities, or control the system despite ignorance …
Model-Based Control Methods To Improve The Power Qualify Of Grid-Connected Single-Phase Inverters., Moath Alqatamin
Model-Based Control Methods To Improve The Power Qualify Of Grid-Connected Single-Phase Inverters., Moath Alqatamin
Electronic Theses and Dissertations
Power electronic converters are commonly used for interfacing distributing generation sources (DGs) to the electrical power system networks. This is necessary because these DGs usually have different output characteristics and cannot be connected directly to the local load and/or the grid. The power electronic front-end converter is an inverter whose dc link is fed by an ac/dc converter or by a dc/dc converter, according to the DG source type. The commercial front-end inverters are designed to operate either in grid-connected (GC) mode or in stand-alone (SA) mode. In the SA mode, the inverter is connected to local load, but in …
Adaptive Physical Human-Robot Interaction (Phri) With A Robotic Nursing Assistant., Sumit Kumar Das
Adaptive Physical Human-Robot Interaction (Phri) With A Robotic Nursing Assistant., Sumit Kumar Das
Electronic Theses and Dissertations
Recently, more and more robots are being investigated for future applications in health-care. For instance, in nursing assistance, seamless Human-Robot Interaction (HRI) is very important for sharing workspaces and workloads between medical staff, patients, and robots. In this thesis we introduce a novel robot - the Adaptive Robot Nursing Assistant (ARNA) and its underlying components. ARNA has been designed specifically to assist nurses with day-to-day tasks such as walking patients, pick-and-place item retrieval, and routine patient health monitoring. An adaptive HRI in nursing applications creates a positive user experience, increase nurse productivity and task completion rates, as reported by experimentation …
Formally Designing And Implementing Cyber Security Mechanisms In Industrial Control Networks., Mehdi Sabraoui
Formally Designing And Implementing Cyber Security Mechanisms In Industrial Control Networks., Mehdi Sabraoui
Electronic Theses and Dissertations
This dissertation describes progress in the state-of-the-art for developing and deploying formally verified cyber security devices in industrial control networks. It begins by detailing the unique struggles that are faced in industrial control networks and why concepts and technologies developed for securing traditional networks might not be appropriate. It uses these unique struggles and examples of contemporary cyber-attacks targeting control systems to argue that progress in securing control systems is best met with formal verification of systems, their specifications, and their security properties. This dissertation then presents a development process and identifies two technologies, TLA+ and seL4, that can be …
Hardware Implementation Of Boost Power Factor Correction Converter., Shruti Motilal Deore
Hardware Implementation Of Boost Power Factor Correction Converter., Shruti Motilal Deore
Electronic Theses and Dissertations
Nowadays, there has been an increasing demand of unity power factor in electrical power sector. Due to the nonlinear nature of load equipment, switching devices, source voltage and current are out of phase with each other. Many power converters topologies are used for the power factor correction. The boost converter with controller is most common for power factor correction circuits. The controller objective is to maintain the output voltage regulation and input current tracking with source voltage. The voltage ripple present due to the ac component of the current tracking objective, hence instead of ignoring that ripple, it is used …
Modeling And Simulation Methodologies For Spinal Cord Stimulation., Saliya Kumara Kirigeeganage
Modeling And Simulation Methodologies For Spinal Cord Stimulation., Saliya Kumara Kirigeeganage
Electronic Theses and Dissertations
The use of neural prostheses to improve health of paraplegics has been a prime interest of neuroscientists over the last few decades. Scientists have performed experiments with spinal cord stimulation (SCS) to enable voluntary motor function of paralyzed patients. However, the experimentation on the human spinal cord is not a trivial task. Therefore, modeling and simulation techniques play a significant role in understanding the underlying concepts and mechanics of the spinal cord stimulation. In this work, simulation and modeling techniques related to spinal cord stimulation were investigated. The initial work was intended to visualize the electric field distribution patterns in …
Challenges In Flexible Microsystem Manufacturing : Fabrication, Robotic Assembly, Control, And Packaging., Danming Wei
Challenges In Flexible Microsystem Manufacturing : Fabrication, Robotic Assembly, Control, And Packaging., Danming Wei
Electronic Theses and Dissertations
Microsystems have been investigated with renewed interest for the last three decades because of the emerging development of microelectromechanical system (MEMS) technology and the advancement of nanotechnology. The applications of microrobots and distributed sensors have the potential to revolutionize micro and nano manufacturing and have other important health applications for drug delivery and minimal invasive surgery. A class of microrobots studied in this thesis, such as the Solid Articulated Four Axis Microrobot (sAFAM) are driven by MEMS actuators, transmissions, and end-effectors realized by 3-Dimensional MEMS assembly. Another class of microrobots studied here, like those competing in the annual IEEE Mobile …
Grid-Connected Photovoltaic Systems Based On Nonlinear Control., Pablo R. Rivera
Grid-Connected Photovoltaic Systems Based On Nonlinear Control., Pablo R. Rivera
Electronic Theses and Dissertations
Nowadays, due to the high-scale penetration of photovoltaic systems, reliable and efficient grid-connected photovoltaic (PV) systems utilizing the advances of power electronics and control system technology are desirable. Thus, single-stage grid-connected photovoltaic systems, have gained attention, especially in low voltage applications. However, PV systems exhibit nonlinear behavior that could negatively affect the performance of the system if they are not adequately compensated for. In this dissertation, using the general structure for the synchronous dq0 frame, a single-stage three-phase grid-connected photovoltaic system, and a single-stage single-phase grid-connected PV system, both with a nonlinear control strategy, are developed to track the maximum …
Control Of Power Electronic Interfaces In Distributed Generation., Mohammad Mohebbi
Control Of Power Electronic Interfaces In Distributed Generation., Mohammad Mohebbi
Electronic Theses and Dissertations
Renewable energy has gained popularity as an alternative resource for electric power generation. As such, Distributed Generation (DG) is expected to open new horizons to electric power generation. Most renewable energy sources cannot be connected to the load directly. Integration of the renewable energy sources with the load has brought new challenges in terms of the system’s stability, voltage regulation and power quality issues. For example, the output power, voltage and frequency of an example wind turbine depend on the wind speed, which fluctuate over time and cannot be forecasted accurately. At the same time, the nonlinearity of residential electrical …
Observation And Estimation Study For Sensorless Control Of Linear Vapor Compressors., Joseph Latham
Observation And Estimation Study For Sensorless Control Of Linear Vapor Compressors., Joseph Latham
Electronic Theses and Dissertations
Linear vapor compressors have become widely investigated for refrigeration applications due to their high efficiency in comparison to the more common rotary type compressors. However, the nature of the linear compressor adds complexity to the control of these machines. The unconstrained motion of the piston in a linear compressor allows for continuous modulation of the compressor output, but requires knowledge of the mechanical dynamics to effectively control the compressor and prevent collision of the piston with the cylinder head. This control is made more difficult by the highly nonlinear nature of the force of gas compression acting against the piston. …
A Radial Basis Function Method For Solving Optimal Control Problems., Hossein Mirinejad
A Radial Basis Function Method For Solving Optimal Control Problems., Hossein Mirinejad
Electronic Theses and Dissertations
This work presents two direct methods based on the radial basis function (RBF) interpolation and arbitrary discretization for solving continuous-time optimal control problems: RBF Collocation Method and RBF-Galerkin Method. Both methods take advantage of choosing any global RBF as the interpolant function and any arbitrary points (meshless or on a mesh) as the discretization points. The first approach is called the RBF collocation method, in which states and controls are parameterized using a global RBF, and constraints are satisfied at arbitrary discrete nodes (collocation points) to convert the continuous-time optimal control problem to a nonlinear programming (NLP) problem. The …