Controls and Control Theory Commons^™

Plc Course Development, Leonard Hernandez, Jacqueline Grace Radding

Electrical Engineering

The goal of this project is to design and construct the first lab experiment for the newly developed EE435 laboratory course. The experiment entails PLC programming to automate LED lighting in a simulated building. Starting with why PLCs are used, how to use the interface of EcoStruxure Control Expert V15.0 and practice using logic to control the dimming of a Light Emitting Diode (LED) to sustain a certain number of lumens consistent in a zone. Through the lab manual developed in this project, students will gain experience of creating logic designs using Function Block Diagram (FBD) and learn the layout …

A Sindy Hardware Accelerator For Efficient System Identification On Edge Devices, Michael Sean Gallagher

Master's Theses

The SINDy (Sparse Identification of Non-linear Dynamics) algorithm is a method of turning a set of data representing non-linear dynamics into a much smaller set of equations comprised of non-linear functions summed together. This provides a human readable system model the represents the dynamic system analyzed. The SINDy algorithm is important for a variety of applications, including high precision industrial and robotic applications. A Hardware Accelerator was designed to decrease the time spent doing calculations. This thesis proposes an efficient hardware accelerator approach for a broad range of applications that use SINDy and similar system identification algorithms. The accelerator is …

Fair Fault-Tolerant Approach For Access Point Failures In Networked Control System Greenhouses, Mohammed Ali Yaslam Ba Humaish

Theses and Dissertations

Greenhouse Networked Control Systems (NCS) are popular applications in modern agriculture due to their ability to monitor and control various environmental factors that can affect crop growth and quality. However, designing and operating a greenhouse in the context of NCS could be challenging due to the need for highly available and cost-efficient systems. This thesis presents a design methodology for greenhouse NCS that addresses these challenges, offering a framework to optimize crop productivity, minimize costs, and improve system availability and reliability. It contributes several innovations to the field of greenhouse NCS design. For example, it recommends using the 2.4GHz frequency …

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 …

Data Driven And Machine Learning Based Modeling And Predictive Control Of Combustion At Reactivity Controlled Compression Ignition Engines, Behrouz Khoshbakht Irdmousa

Dissertations, Master's Theses and Master's Reports

Reactivity Controlled Compression Ignition (RCCI) engines operates has capacity to provide higher thermal efficiency, lower particular matter (PM), and lower oxides of nitrogen (NOx) emissions compared to conventional diesel combustion (CDC) operation. Achieving these benefits is difficult since real-time optimal control of RCCI engines is challenging during transient operation. To overcome these challenges, data-driven machine learning based control-oriented models are developed in this study. These models are developed based on Linear Parameter-Varying (LPV) modeling approach and input-output based Kernelized Canonical Correlation Analysis (KCCA) approach. The developed dynamic models are used to predict combustion timing (CA50), indicated mean effective pressure (IMEP), …

Control Of Fully-Actuated Aerial Manipulators And Omni-Directional Multirotors, Riley M. Mccarthy

Mechanical Engineering ETDs

This thesis details the system modeling, design, control, simulation, construction, and
testing of both a fully-actuated and omni-directional multirotor aerial system created
for the primary purpose of performing active tasks with their environment. This work
verifies the capabilities of both systems through empirical testing, and demonstrates
how through the use of new control methods and physical designs multirotors can
expand their purpose from passive inspection based tasks to active contact based
tasks. These systems take advantage of newly implemented control allocation features present in the PX4 flight control software, version 1.14. The use of which makes designing controllers for such …

Static And Dynamic State Estimation Applications In Power Systems Protection And Control Engineering, Ibukunoluwa Olayemi Korede

Doctoral Dissertations

The developed methodologies are proposed to serve as support for control centers and fault analysis engineers. These approaches provide a dependable and effective means of pinpointing and resolving faults, which ultimately enhances power grid reliability. The algorithm uses the Least Absolute Value (LAV) method to estimate the augmented states of the PCB, enabling supervisory monitoring of the system. In addition, the application of statistical analysis based on projection statistics of the system Jacobian as a virtual sensor to detect faults on transmission lines. This approach is particularly valuable for detecting anomalies in transmission line data, such as bad data or …

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 …

Cyber-Threat Detection Strategies Governed By An Observer And A Neural-Network For An Autonomous Electric Vehicle, Douglas Scruggs

All Theses

A pathway to prevalence for autonomous electrified transportation is reliant upon accurate and reliable information in the vehicle’s sensor data. This thesis provides insight as to the effective cyber-attack placements on an autonomous electric vehicle’s lateral stability control system (LSCS). Here, Data Integrity Attacks, Replay Attacks, and Denial-of-Service attacks are placed on the sensor data describing the vehicle’s actual yaw-rate and sideslip angle. In this study, there are three different forms of detection methods. These detection methods utilize a residual metric that incorporate sensor data, a state-space observer, and a Neural-Network. The vehicle at hand is a four-motor drive autonomous …

Safe Navigation Of Quadruped Robots Using Density Functions, Andrew Zheng

All Theses

Safe navigation of mission-critical systems is of utmost importance in many modern autonomous applications. Over the past decades, the approach to the problem has consisted of using probabilistic methods, such as sample-based planners, to generate feasible, safe solutions to the navigation problem. However, these methods use iterative safety checks to guarantee the safety of the system, which can become quite complex. The navigation problem can also be solved in feedback form using potential field methods. Navigation function, a class of potential field methods, is an analytical control design to give almost everywhere convergence properties, but under certain topological constraints and …

Controlled Manipulation And Transport By Microswimmers In Stokes Flows, Jake Buzhardt

All Dissertations

Remotely actuated microscale swimming robots have the potential to revolutionize many aspects of biomedicine. However, for the longterm goals of this field of research to be achievable, it is necessary to develop modelling, simulation, and control strategies which effectively and efficiently account for not only the motion of individual swimmers, but also the complex interactions of such swimmers with their environment including other nearby swimmers, boundaries, other cargo and passive particles, and the fluid medium itself. The aim of this thesis is to study these problems in simulation from the perspective of controls and dynamical systems, with a particular focus …

Evaluating Eeg–Emg Fusion-Based Classification As A Method For Improving Control Of Wearable Robotic Devices For Upper-Limb Rehabilitation, Jacob G. Tryon

Electronic Thesis and Dissertation Repository

Musculoskeletal disorders are the biggest cause of disability worldwide, and wearable mechatronic rehabilitation devices have been proposed for treatment. However, before widespread adoption, improvements in user control and system adaptability are required. User intention should be detected intuitively, and user-induced changes in system dynamics should be unobtrusively identified and corrected. Developments often focus on model-dependent nonlinear control theory, which is challenging to implement for wearable devices.

One alternative is to incorporate bioelectrical signal-based machine learning into the system, allowing for simpler controller designs to be augmented by supplemental brain (electroencephalography/EEG) and muscle (electromyography/EMG) information. To extract user intention better, sensor …

Nonlinear Adaptive Control Of Drilling Processes, Maksim Faronov

Electronic Thesis and Dissertation Repository

This work deals with the modeling and control of automated drilling operations. Advances in drilling automation are of substantial importance because improvements in drilling control algorithms will result in more efficient drilling, which is beneficial from both economic and environmental points of view. While the primary application of the results is extraction of natural resources, potentially there exists a wide range of applications, including offshore exploration, archaeological research, and automated extraterrestrial mining, where implementation of new methods and control algorithms for drilling processes can bring substantial benefits.

The main contribution of the thesis is development of new methods and algorithms …

Improved Vehicle-Bridge Interaction Modeling And Automation Of Bridge System Identification Techniques, Omar Abuodeh

All Dissertations

The Federal Highway Administration (FHWA) recognizes the necessity for cost-effective and practical system identification (SI) techniques within structural health monitoring (SHM) frameworks for asset management applications. Indirect health monitoring (IHM), a promising SHM approach, utilizes accelerometer-equipped vehicles to measure bridge modal properties (e.g., natural frequencies, damping ratios, mode shapes) through bridge vibration data to assess the bridge's condition. However, engineers and researchers often encounter noise from road roughness, environmental factors, and vehicular components in collected vehicle signals. This noise contaminates the vehicle signal with spurious modes corresponding to stochastic frequencies, impacting damage monitoring assessments. Thus, an efficient and reliable SI …

The Application Of Model Predictive Control On Paralleled Converters For Zero Sequence Current Suppression And Active Thermal Management, Justin Dobey

All Theses

In the field of power electronics, the control of rectifiers is a crucial area of study. Rectifiers are used to convert AC power into DC power, and are commonly used in a wide range of applications, including renewable energy systems, industrial automation, and consumer electronics. However, in medium and high-power systems when multiple rectifiers are connected in parallel to a DC bus, stability issues can arise, including voltage fluctuations, zero sequence circulating current, and thermal imbalance.

Achieving stable DC bus voltage is essential for maintaining the proper functioning of electronic devices, while suppressing zero sequence current is necessary for protecting …

Development Of A Soft Robotic Approach For An Intra-Abdominal Wireless Laparoscopic Camera, Hui Liu

Doctoral Dissertations

In Single-Incision Laparoscopic Surgery (SILS), the Magnetic Anchoring and Guidance System (MAGS) arises as a promising technique to provide larger workspaces and field of vision for the laparoscopes, relief space for other instruments, and require fewer incisions. Inspired by MAGS, many concept designs related to fully insertable magnetically driven laparoscopes are developed and tested on the transabdominal operation. However, ignoring the tissue interaction and insertion procedure, most of the designs adopt rigid structures, which not only damage the patients' tissue with excess stress concentration and sliding motion but also require complicated operation for the insertion. Meanwhile, lacking state tracking of …

Data-Driven Porosity Prediction For Directed Energy Deposition, Georgia E. Kaufman

Electrical and Computer Engineering ETDs

Stochastic flaw formation leading to poor print quality is a major obstacle to the utility of directed energy deposition (DED), a laser and metal powder-based additive manufacturing technology for construction and repair of custom metal parts. While melt pool temperature variability is known to be a major factor in flaw formation, control schemes to decrease flaw formation are limited by a lack of physics-based models that fully and accurately describe DED. In this work, a stochastic reachability analysis with a data-driven model based on thermal images of the melt pool was conducted to determine the likelihood of violating melt pool …

Programmable And Modular Dc-Dc Converter, Joshua C. Hutchinson, Elijah M. Gordon

Electrical Engineering

This project considers the design, implementation, and testing of an open-source dc-dc converter for microgrid prototyping. Unlike conventional dc-dc converters that are proprietary and require specialist knowledge, and are usually designed for a single function, the proposed dc-dc converter will comprise of a programmable MCU and a Raspberry Pi (RPi) interface to allow less-skilled consumers to monitor and modify a power converting system. We will develop an open-source library that contains voltage control, current control, maximum power point tracking, and battery charge control profiles. Each library will be easy to implement through a GUI on the Raspberry Pi and will …

Hvac Fan Cooling System Using Modicon M580, Ogbonnaya Okoronkwo Okorie, Nicolas Jens Fache

Electrical Engineering

A common problem that many devices have when operating is overheating. Whether it is operating at full capacity or idle, those devices that we use exert heat to some type of extent. The physical and electronic components of the device can only withstand so much heat before the component becomes damaged. This product provides a method of preventing overheating by being a cooling system for your device. A solution for preventing overheating of the components in these electronic devices is by having some sort of cooling system. Our product’s cooling system will be based on energy efficiency, which means that …

Industrial Automation And Controls Lab: Smart Led Dimmer Control, Trevor J. Beck

Electrical Engineering

Programmable Logic Controllers (PLCs) are rugged industrial computers used extensively in many industries for automation and control. EE 435 is a course being developed to introduce students to PLCs. This project will focus on one section of the course, with the primary objective being to control the brightness of an LED based on input received from an ambient light sensor. The control logic will use a PLC with analog input and output modules to interface with the sensor and actuator hardware. The light sensor will output 4-20mA proportional to the intensity of visible light, measured in lumens. The analog input …

Reaction Wheel Based Rocket Active Spin Stabilization, Tanuj Vemuri

Electrical Engineering

Cal Poly Space Systems is the high-powered and experimental rocketry club at Cal Poly SLO. They aim to design, test, and launch fully integrated launch vehicles. In order to create efficient and reliable vehicles, stabilization systems must be implemented. One parameter that can be actively stabilized is the vehicle’s roll. The roll of the vehicle can have noticeably effects on vehicle performance, as uncontrolled roll leads to decreased system stability in flight. Un-controlled roll can also have negative impacts on the quality of onboard video, which is used for post-flight analysis and marketing.

Reaction wheels are a popular method for …

Programmable Vibration Table Retrofit With Eagle Medical, Jonathan Ilagan, Madhav Asok, Max Lewter

Biomedical Engineering

This project aimed to repair and upgrade a vibration table used for package testing for the sponsor, Eagle Medical - a medical packaging and sterilization company based in Paso Robles, California. The current vibration table is not programmable and lacks circuit diagrams, making it difficult to repair. In addition, it is not functional due to internal circuitry issues and power requirements. To address these issues, the team will implement several upgrades to improve the product and allow for better random cyclic vibration testing. A full assessment of the existing vibration table will be conducted to ensure the viability of these …

Tank Level Controller Plc Lab, Siddhi Upadhyaya, Teghvir Grewal

Electrical Engineering

The California Polytechnic State University San Luis Obispo’s Electrical Engineering Department is currently developing lab experiments for the new EE435 (Industrial Power Control and Automation) class. In order to support these efforts, fourth year Cal Poly students are expected to develop laboratory experiments that will be conducted during this new class for the semester system. The lab experiment focused on in this project is called the Tank Level Controller. This experiment will introduce EE 435 students to Schneider Electric Programmable Logic Controller (PLC) hardware and software, which is prominent in the automation industry.
This experiment will require students to develop …

Energy Storage And Communication System, Noah R. Johnson, Marc Wong

Electrical Engineering

The Industrial Power and Controls Lab in Engineering East is welcoming the addition of a new lab course, EE 435. Schneider Electric sponsors this course, which seeks to teach students how to use the Modicon M580 Program Logic Controller (PLC) in various industry use cases. This project is a continuation of previous senior projects and focuses on developing a lab experiment to teach students how to utilize the M580 in an energy storage use case. More specifically, it focuses on the battery management system that oversees the units and exposes students to the various situations this system may encounter during …

Instrumented Control Column For Optionally Piloted Aircraft, Andrew J. Klein

Electrical Engineering

Natilus, an aerospace company that is rapid-prototyping optionally piloted aircraft (OPA) for the shipping industry, needs a system that retrieves control column position data in order to manipulate flight simulator parameters in software. At present, a universally compatible system for all aircraft does not exist. Typically, established aerospace companies will sink significant time and money into developing proprietary systems for control column data retrieval as every aircraft is unique in its layout and linkage design. However, as a startup developing their first aircraft, Natilus does not have the privilege of modifying an existing sensor system to work with their HIL …

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 …

Deep Reinforcement Learning And Game Theoretic Monte Carlo Decision Process For Safe And Efficient Lane Change Maneuver And Speed Management, Shahab Karimi

All Dissertations

Predicting the states of the surrounding traffic is one of the major problems in automated driving. Maneuvers such as lane change, merge, and exit management could pose challenges in the absence of intervehicular communication and can benefit from driver behavior prediction. Predicting the motion of surrounding vehicles and trajectory planning need to be computationally efficient for real-time implementation. This dissertation presents a decision process model for real-time automated lane change and speed management in highway and urban traffic. In lane change and merge maneuvers, it is important to know how neighboring vehicles will act in the imminent future. Human driver …

An Isostable Coordinate Based Amelioration Strategy To Mitigate The Effects Of Jet Lag, Talha Ahmed

Masters Theses

Commercial air travel has become extremely commonplace in the last 20 to 30 years especially as the world has moved towards new heights of globalization. Though air travel has greatly reduced transit times allowing people to cover thousand of miles within hours, it comes with its fair share of issues. jet-lag can be regarded to be at the top of those list of problems; jet-lag typically results from rapid travel through multiple time zones which causes a significant misalignment between the person's internal circadian clock and the external time. A person's circadian clock is governed by a population of coupled …

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 …

Exploration Of Force In Movement And Perception In Parkinson’S Disease, Caroline Stefanie Aitken

Electronic Thesis and Dissertation Repository

Parkinson’s Disease (PD) causes force control deficits in upper and lower limbs. About 50% of patients with advanced PD develop freezing of gait (FOG). There is limited research comparing force control in PD with and without FOG, especially in upper limbs. It has been suggested that motor control deficits in PD are related to deficits in kinesthesia, but there is conflicting evidence whether levodopa alleviates kinesthetic deficits. In this thesis, force control was explored using an upper-and-lower-limb haptics-enabled robot in a reaching task, and kinesthesia was investigated using a haptic device in a force discrimination task while participants were on …