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Articles 1 - 17 of 17
Full-Text Articles in Controls and Control Theory
Control Design And Filtering For Wireless Networked Systems, Xiao Ma
Control Design And Filtering For Wireless Networked Systems, Xiao Ma
Doctoral Dissertations
This dissertation is concerned with estimation and control over wireless networked systems. Several problems are addressed, including estimator design over packet loss links, control and estimation over cognitive radio systems, modeling and prediction of wireless sensor networks (WSNs), and localization with the Theater Positioning System (TPS). The first problem addressed is the state estimation of a discrete-time system through a packet loss link modeled by a Bernoulli random variable. The optimal filter is derived by employing exact hybrid filtering. The performance of the optimal filter is illustrated by numerical simulations. Next, we consider the problem of estimation and control over …
Exploration Of Neural Structures For Dynamic System Control, Scott Frederick Hansen
Exploration Of Neural Structures For Dynamic System Control, Scott Frederick Hansen
Masters Theses
Biological neural systems are powerful mechanisms for controlling biological sys- tems. While the complexity of biological neural networks makes exact simulation intractable, several key aspects lend themselves to implementation on computational systems.
This thesis constructs a discrete event neural network simulation that implements aspects of biological neural networks. A combined genetic programming/simulated annealing approach is utilized to design network structures that function as regulators for continuous time dynamic systems in the presence of process noise when simulated using a discrete event neural simulation.
Methods of constructing such networks are analyzed including examination of the final network structure and the algorithm …
Adaptive Local And Global Synchronization And Phase Control Of Inferior Olive Neurons (Ions), Srujan Kumar Chalike
Adaptive Local And Global Synchronization And Phase Control Of Inferior Olive Neurons (Ions), Srujan Kumar Chalike
UNLV Theses, Dissertations, Professional Papers, and Capstones
Clusters of inferior olive neurons (IONs) in the olive-cerebellar system play an important role in providing synchronized motor control signals for the activation of large number of muscles. However, the dynamics of IONs are highly nonlinear and the system parameters are assumed to be unknowm. The IONs evolving from arbitrary initial conditions are not synchronized. However the application of IONs for control of BAUV's requires that IONs oscillate in unison. The objective is to design control laws such that the controlled ION tracks the trajectories of the reference ION. The two control laws are derived based on tuning functions adaptive …
Smart Wall Plug Design For The Dc House Project, Edward Constant Sibal
Smart Wall Plug Design For The Dc House Project, Edward Constant Sibal
Master's Theses
The DC House project at Cal Poly State University faces a challenge of supplying DC voltage to household appliances. Each appliance in the DC House constitutes a DC load that has a unique voltage and power rating, hence the need to develop a smart DC wall plug that will automatically adjust to the operating voltage required by any DC load. This thesis entails a proof of concept design of the smart DC wall plug which can automatically detect an appliance’s voltage rating. The design employs a dc-dc converter in conjunction with a microcontroller to sense load current to properly adjust …
Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena
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 …
Preoperative Planning Of Robotics-Assisted Minimally Invasive Cardiac Surgery Under Uncertainty, Hamidreza Azimian
Preoperative Planning Of Robotics-Assisted Minimally Invasive Cardiac Surgery Under Uncertainty, Hamidreza Azimian
Electronic Thesis and Dissertation Repository
In this thesis, a computational framework for patient-specific preoperative planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) is developed. It is expected that preoperative planning of RAMICS will improve the rate of success by considering robot kinematics, patient-specific thoracic anatomy, and procedure-specific intraoperative conditions. Given the significant anatomical features localized in the preoperative computed tomography images of a patient's thorax, port locations and robot orientations (with respect to the patient's body coordinate frame) are determined to optimize characteristics such as dexterity, reachability, tool approach angles and maneuverability. In this thesis, two approaches for preoperative planning of RAMICS are proposed that …
Technique For Measurement Of Weld Resistance For Ac Resistance Spot Welding Via Instantaneous Phasor Measurement, Mian Mohsin Irshad
Technique For Measurement Of Weld Resistance For Ac Resistance Spot Welding Via Instantaneous Phasor Measurement, Mian Mohsin Irshad
Electronic Thesis and Dissertation Repository
The resistance measurement in the resistance spot welding (RSW), is an ongoing research topic. The high current flow during the welding process induces an electromagnetic field in the wires which are attached to the electrodes to measure tip voltage. This results an additional voltage drop which is proportional to the derivative of current. Also the presence of silicon controlled rectifier (SCR) in the welding power supply generates harmonics in both supply voltage and current. These issues together complicate the methods for resistance estimation.
A set of simultaneous linear equations is derived for the on-line measurement of dynamic resistance and induced …
Experimental Evaluation Of The Projection-Based Force Reflection Algorithms For Haptic Interaction With Virtual Environment, Mir Z. Hasan
Experimental Evaluation Of The Projection-Based Force Reflection Algorithms For Haptic Interaction With Virtual Environment, Mir Z. Hasan
Electronic Thesis and Dissertation Repository
Haptic interaction with virtual environments is currently a major and growing area of research with a number of emerging applications, particularly in the field of robotics. Digital implementation of the virtual environments, however, introduces errors which may result in instability of the haptic displays. This thesis deals with experimental investigation of the Projection-Based Force Reflection Algorithms (PFRAs) for haptic interaction with virtual environments, focusing on their performance in terms of stability and transparency. Experiments were performed to compare the PFRA in terms of performance for both non-delayed and delayed haptic interactions with more conventional haptic rendering methods, such as the …
Frg Turbojet, Tyler Vitti
Frg Turbojet, Tyler Vitti
Computer Engineering
Members of the Cal Poly SLO campus club FRG work together with students of several different disciplines to build a functional turbojet engine. Engineering approaches include design, fabrication, testing, and computer sensing, control, and integration. The goal of the project is to produce a running turbojet engine monitored and controlled by embedded hardware and specialized PC software. This project is to be used by later groups for further research and development.
Independent Moisture-Sensitive Automatic Watering System, Jessica Sherbon
Independent Moisture-Sensitive Automatic Watering System, Jessica Sherbon
Electrical Engineering
With the availability of home improvement supplies, plant owners can quickly and easily set up an automatic system that waters their gardens based on a specified schedule. However, most of these systems require an electric outlet or water faucet making them unusable in locations where installed water and power lines do not exist, such as apartment balconies. This project defines a small-scale automated watering system that runs independently of installed water and power lines. The system takes water from a reservoir, such as a tank or bucket, and supplies that water to individual plants via a drip system. The design …
Control System For Glucose Detector System, David Smith
Control System For Glucose Detector System, David Smith
Electrical Engineering
In this paper I design and test on a prove of concept level a control/timing circuit for a blood glucose detector built in a previous senior project. The specifications of the design given are to properly power the detector with a low power source. The design is completed on a transistor level basis using Cadence Virtuoso Software. The system is design from the ground up; designing, building, and testing smaller circuits first then combined into increasingly larger circuits till the completed circuit is finished. The design used to based off of the 555 Timer and uses differential pairs, CMOS designed …
A Proposed Control Solution For The Cal Poly Wind Energy Capture System, Kent R. Burnett
A Proposed Control Solution For The Cal Poly Wind Energy Capture System, Kent R. Burnett
Master's Theses
The focus of this thesis is to research, analyze, and design a reliable and economical control system for the Cal Poly Wind Energy Capture System (WECS). A dynamic permanent magnet generator model is adopted from [1] and [2] and combined with an existing wind turbine model to create a non-linear time varying model in MATLAB. The model is then used to analyze potentially harmful electrical disturbances, and to define safe operating limits for the WECS. An optimal operating point controller utilizing a PID speed loop is designed with combined optimization criteria and the final controller design …
Haptics-Enabled Teleoperation For Robotics-Assisted Minimally Invasive Surgery, Ali Talasaz
Haptics-Enabled Teleoperation For Robotics-Assisted Minimally Invasive Surgery, Ali Talasaz
Electronic Thesis and Dissertation Repository
The lack of force feedback (haptics) in robotic surgery can be considered to be a safety risk leading to accidental tissue damage and puncturing of blood vessels due to excessive forces being applied to tissue and vessels or causing inefficient control over the instruments because of insufficient applied force. This project focuses on providing a satisfactory solution for introducing haptic feedback in robotics-assisted minimally invasive surgical (RAMIS) systems. The research addresses several key issues associated with the incorporation of haptics in a master-slave (teleoperated) robotic environment for minimally invasive surgery (MIS). In this project, we designed a haptics-enabled dual-arm (two …
Polar Field Oriented Control With 3rd Harmonic Injection, Martin Todd Hess
Polar Field Oriented Control With 3rd Harmonic Injection, Martin Todd Hess
Master's Theses
Abstract
POLAR FIELD-ORIENTED CONTROL
with
3RD HARMONIC INJECTION
Martin Todd Hess
Field Oriented Control (FOC), also known as vector control, is a widely used and well documented method for controlling Permanent-Magnet Synchronous Motors (PMSM) and induction motors. Almost invariably the orientation of the stator and rotor (field) fluxes are described in rectangular coordinates. In this thesis we explore the practicality of using polar coordinates.
Third harmonic injection is also a well-known technique that allows full utilization of the bus (DC-link), thus allowing the motor to run to full base speed without the use of field weakening. This technique potentially …
Feedback Control For Electron Beam Lithography, Yugu Yang
Feedback Control For Electron Beam Lithography, Yugu Yang
Theses and Dissertations--Electrical and Computer Engineering
Scanning-electron-beam lithography (SEBL) is the primary technology to generate arbitrary features at the nano-scale. However, pattern placement accuracy still remains poor compared to its resolution due to the open-loop nature of SEBL systems. Vibration, stray electromagnetic fields, deflection distortion and hysteresis, substrate charging, and other factors prevent the electron-beam from reaching its target position and one has no way to determine the actual beam position during patterning with conventional systems. To improve the pattern placement accuracy, spatial-phase-locked electron-beam lithography (SPLEBL) provides feedback control of electron-beam position by monitoring the secondary electron signal from electron-transparent fiducial grids on the substrate. While …
Root Locus Techniques With Nonlinear Gain Parameterization, Brandon Wellman
Root Locus Techniques With Nonlinear Gain Parameterization, Brandon Wellman
Theses and Dissertations--Mechanical Engineering
This thesis presents rules that characterize the root locus for polynomials that are nonlinear in the root-locus parameter k. Classical root locus applies to polynomials that are affine in k. In contrast, this thesis considers polynomials that are quadratic or cubic in k. In particular, we focus on constructing the root locus for linear feedback control systems, where the closed-loop denominator polynomial is quadratic or cubic in k. First, we present quadratic root-locus rules for a controller class that yields a closed-loop denominator polynomial that is quadratic in k. Next, we develop cubic root-locus rules …
Improvements In Genetic Approach To Pole Placement In Linear State Space Systems Through Island Approach Pga With Orthogonal Mutation Vectors, Arnold Cassell
Improvements In Genetic Approach To Pole Placement In Linear State Space Systems Through Island Approach Pga With Orthogonal Mutation Vectors, Arnold Cassell
UNF Graduate Theses and Dissertations
This thesis describes a genetic approach for shaping the dynamic responses of linear state space systems through pole placement. This paper makes further comparisons between this approach and an island approach parallel genetic algorithm (PGA) which incorporates orthogonal mutation vectors to increase sub-population specialization and decrease convergence time.
Both approaches generate a gain vector K. The vector K is used in state feedback for altering the poles of the system so as to meet step response requirements such as settling time and percent overshoot. To obtain the gain vector K by the proposed genetic approaches, a pair of ideal, desired …