Controls and Control Theory Commons^™

Ros-Enabled Framework For A Miniature Hexapod As A Mobile Robot Research Platform, Joseph Michael Kloeppel

Electrical and Computer Engineering ETDs

The purpose of this thesis is to investigate and develop a framework for connected six-legged robots which can be used as a Robotic Operating System (ROS) based research platform. The research presented aims to purvey the necessary engineering and scientific steps needed to evolve a consumer-grade connected toy into a fully functioning and highly capable robotic system. Such a platform can be used to simulate and implement novel biologically inspired swarm research. Crawling robots have the advantage of being able to scale terrains which wheeled mobile robots may not and possess many interesting characteristics. The miniROaCH, miniature ROS-enabled and Crawling …

Robotic Manipulation Of Environmentally Constrained Objects Using Underactuated Hands, Mahyar Abdeetedal

Electronic Thesis and Dissertation Repository

Robotics for agriculture represents the ultimate application of one of our society's latest and most advanced innovations to its most ancient and vital industry. Over the course of history, mechanization and automation have increased crop output several orders of magnitude, enabling a geometric growth in population and an increase in quality of life across the globe. As a challenging step, manipulating objects in harvesting automation is still under investigation in literature. Harvesting or the process of gathering ripe crops can be described as breaking environmentally constrained objects into two or more pieces at the desired locations. In this thesis, the …

Application Of Real Field Connected Vehicle Data For Aggressive Driving Identification On Horizontal Curves, Arash Jahangiri, Vincent Berardi, Sahar Ghanipoor Machiani

Psychology Faculty Articles and Research

The emerging technology of connected vehicles generates a vast amount of data that could be used to enhance roadway safety. In this paper, we focused on safety applications of a real field connected vehicle data on a horizontal curve. The database contains connected vehicle data that were collected on public roads in Ann Arbor, Michigan with instrumented vehicles. Horizontal curve negotiations are associated with a great number of accidents, which are mainly attributed to driving errors. Aggressive/risky driving is a contributing factor to the high rate of crashes on horizontal curves. Using basic safety message data in connected vehicle data …

Real Time And High Fidelity Quadcopter Tracking System, Tyler Mckay Hall

Computer Engineering

This project was conceived as a desired to have an affordable, flexible and physically compact tracking system for high accuracy spatial and orientation tracking. Specifically, this implementation is focused on providing a low cost motion capture system for future research. It is a tool to enable the further creation of systems that would require the use of accurate placement of landing pads, payload acquires and delivery. This system will provide the quadcopter platform a coordinate system that can be used in addition to GPS.

Field research with quadcopter manufacturers, photographers, agriculture and research organizations were contact and interviewed for information …

Flexible Custom Electric Skateboard, Caleb Adam Kelsay

Electrical Engineering

At Cal Poly traveling long distances only accessible by foot such as across campus or from the car park to class can be tiring and time-consuming. While not physically demanding, the trek consumes time in our tight college life schedule. To improve our time efficiency this project provides a relatively lightweight, powered solution to quickly and effectively travel long distances while maintaining full control and safety even on hills, a current limitation of traditional skateboards.

This electric skateboard includes the battery capacity to travel all around campus on a single charge with a compact and flexible skateboard design that provides …

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 …

Hybrid Attitude Control And Estimation On So(3), Soulaimane Berkane

Electronic Thesis and Dissertation Repository

This thesis presents a general framework for hybrid attitude control and estimation design on the Special Orthogonal group SO(3). First, the attitude stabilization problem on SO(3) is considered. It is shown that, using a min-switch hybrid control strategy designed from a family of potential functions on SO(3), global exponential stabilization on SO(3) can be achieved when this family of potential functions satisfies certain properties. Then, a systematic methodology to construct these potential functions is developed. The proposed hybrid control technique is applied to the attitude tracking problem for rigid body systems. A smoothing mechanism is proposed to filter out the …

Realtime Implementation Of An Internal-Model-Principle Signal Identifier, Edris Saleh Mohsen

Electronic Thesis and Dissertation Repository

This thesis presents a new means approach of tuning an adaptive internal model principle based signal identification algorithm whose computational costs are low enough to allow a realtime implementation. The algorithm allows an instantaneous Fourier decomposition of nonstationary signals that have a strongly predictable component. The algorithm is implemented as a feedback loop resulting in a closed loop system with a frequency response of a bandpass filter with notches at the frequencies of the Fourier decomposition. This is achieved through real time selection of the coefficients of the transfer functions in the feedback loop. Previous work showed how the dynamics …

Adaft: A Resource-Efficient Framework For Adaptive Fault-Tolerance In Cyber-Physical Systems, Ye Xu

Doctoral Dissertations

Cyber-physical systems frequently have to use massive redundancy to meet application requirements for high reliability. While such redundancy is required, it can be activated adaptively, based on the current state of the controlled plant. Most of the time the physical plant is in a state that allows for a lower level of fault-tolerance. Avoiding the continuous deployment of massive fault-tolerance will greatly reduce the workload of CPSs. In this dissertation, we demonstrate a software simulation framework (AdaFT) that can automatically generate the sub-spaces within which our adaptive fault-tolerance can be applied. We also show the theoretical benefits of AdaFT, and …

Ground Station Tracking System, Garret Hilton, Carter Mciver, Steven Hamby, Trevor Gahl, Casey Coffman, David Schwehr

2017 Academic High Altitude Conference

One of the Eclipse Ballooning Project’s main goals was to stream live video of the eclipse to the internet. To accomplish this task a tracking antenna was built to follow the balloon payload. As an added challenge, the task had to be completed on a budget. The “ground station” is the center for communication between the payload and user. This system utilizes GPS position reports from the payload via the iridium network to determine the balloons position. The computer algorithm takes in additional GPS and IMU data from the ground station to determine a relative heading to orientate the antenna …

Co-Existence Of Microbial Ecology In A Chemostat Using A Robust Feedback, Hector Puebla, Mariana Rodriguez-Jara, Margarita M. Gonzalez-Brambila, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez, Ennio Piceno-Diaz

Annual Symposium on Biomathematics and Ecology Education and Research

No abstract provided.

Food Web Control And Synchronization Using A Robust Feedback, Hector Puebla, Mariana Rodriguez-Jara, Cesar S. Lopez-Monsalvo, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez

Annual Symposium on Biomathematics and Ecology Education and Research

No abstract provided.

Energy Management Algorithm For Resilient Controlled Delivery Grids, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed, Haim Grebel, Roberto Rojas-Cessa

Publications and Research

Resilience of the power grid is most challenged at power blackouts since the issues that led to it may not be fully resolved by the time the power is back. In this paper, a Real-Time Energy Management Algorithm (RTEMA) has been developed to increase the resilience of power systems based on the controlled delivery grid (CDG) concept. In a CDG, loads communicate with a central controller, periodically sending requests for power. The central controller runs an algorithm, based on which it may decide whether to grant the requested energy fully or partially. Therefore, the CDG limits loads discretionary access to …

Quantitative Analysis Of Regenerative Energy In Electric Rail Traction Systems, Mahmoud Saleh, Oindrilla Dutta, Yusef Esa, Ahmed Mohamed

Publications and Research

This paper aims at determining the influential factors affecting regenerative braking energy in DC rail transit systems. This has been achieved by quantitatively evaluating the dependence of regenerative energy on various parameters, such as vehicle dynamics, train scheduling, ground inclination and efficiency of the electrical devices. The recuperated power and energy have been presented by a mathematical model, comprising of a set of empirical forms, which allows for thorough analysis. A detailed simulation model of a typical DC-traction system has been developed to validate the developed empirical forms. The results verified the validity of the proposed mathematical model, and demonstrated …

Optimal Microgrids Placement In Electric Distribution Systems Using Complex Network Framework, Mahmoud Saleh, Yusef Esa, Nwabueze Onuorah, Ahmed Mohamed

Publications and Research

This paper provides a new approach to find the optimal location for Microgrids (MGs) in electric distribution systems using complex network analysis. An optimal location in this paper refers to a location that would result in increased grid resilience, reduced power losses, less line loading, higher voltage stability and secured supply to critical loads during power outage. The criteria used to find the optimal placement of MGs were based on the centrality analysis adopted from complex network theory, the center of mass concept used in physics, and the controlled delivery grid (CDG) concept. An IEEE 30-bus system was used as …

Event And Time-Triggered Control Module Layers For Individual Robot Control Architectures Of Unmanned Agricultural Ground Vehicles, Tyler Troyer

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

Automation in the agriculture sector has increased to an extent where the accompanying methods for unmanned field management are becoming more economically viable. This manifests in the industry’s recent presentation of conceptual cab-less machines that perform all field operations under the high-level task control of a single remote operator. A dramatic change in the overall workflow for field tasks that historically assumed the presence of a human in the immediate vicinity of the work is predicted. This shift in the entire approach to farm machinery work provides producers increased control and productivity over high-level tasks and less distraction from operating …

Design Of Dc-Link Vscf Ac Electrical Power System For The Embraer 190/195 Aircraft, Eduardo Francis Carvalho Freitas, Nihad E. Daidzic

Journal of Aviation Technology and Engineering

A proposed novel DC-Link VSCF AC-DC-AC electrical power system converter for Embraer 190/195 transport category airplane is presented. The proposed converter could replace the existing conventional system based on the CSCF IDGs. Several contemporary production airplanes already have VSCF as a major or backup source of electrical power. Problems existed with the older VSCF systems in the past; however, the switched power electronics and digital controllers have matured and can be now, in our opinion, safely integrated and replace existing constant-speed hydraulic transmissions powering CSCF AC generators. IGBT power transistors for medium-level power conversion and relatively fast efficient switching are …

Pursuit Evasion With Multiple Pursuers : Capturing A Ground Vehicle On A Road Network With Multiple Drones, Blake Wilson, Shreyas Sundaram, Amritha Prasad

The Summer Undergraduate Research Fellowship (SURF) Symposium

Unmanned Aerial Vehicles (UAV) have many military and civilian applications, one of which is monitoring a given area (such as a road network) for threats. An important question in this application is to determine the latest time to dispatch UAVs for the guaranteed capture of threats attempting to travel through the network. In this work, we consider a pursuit evasion scenario with multiple pursuers (UAVs) trying to catch a single evader (ground vehicle), where information about the evader’s path is provided by ground sensors. In this scenario, we consider the problem of finding the maximum delay with which the pursuers …

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. …

Modeling And Design Of A Low-Level Rf Control System For The Accumulator Ring At Spallation Neutron Source, Michael G. Trout

Masters Theses

Since its commissioning in 2006, Spallation Neutron Source (SNS) at Oak Ridge National Laboratory has greatly contributed to the field of neutron science, but some critical systems are reaching end-of-life. This obsolescence must be addressed for the accelerator to continue providing world-class research capabilities. One such system needing redesign is the low-level RF (LLRF) control system for the proton accumulator ring. While this system has performed acceptably for over a decade, it is sparsely documented and robust operational models are unavailable. To ensure the new design meets or exceeds current performance metrics, we analyzed the existing LLRF control system and …

Statistical Movement Classification Based On Hilbert-Huang Transform, Shanqi Sun

Graduate Theses and Dissertations

The goal of this project is to introduce an automatic movement classification technique of

finger movement signals using Hilbert-Huang Transform (HHT). Due to the nonlinear and

nonstationary processing behavior, movement signals are analyzed with the Hilbert-Huang

Transform (HHT). The slope of auto-correlation function and mean of frequency from first

three Intrinsic Mode Functions (IMFs) was used as feature parameters for each category.

Finally, performing support vector machine (SVM) for pattern classification completes clas-

sifying types of finger movement. According to the records of 669 trial samples of two types

of finger movement signals (thumb and pinky), average accuracy is 93.28%. …

Two Senior Projects: 2.4 Ghz, 40% Efficiency Radio Frequency Amplifier, Ieee Design Contest, & Design And Implementation Of A Software Costas Loop For Audio Frequencies, Robert J. Tong

Electrical Engineering

How to Read this Document:

This document combines two senior project reports. The first senior project documents designing a class AB RF amplifier. The second, discusses the design and implementation of a software Costas loop for audio frequencies. The first report begins on the next page, while the Costas loop report starts on page 24. The two reports are orthogonal from one another. It is not a prerequisite to read the RF amplifier report before reading the Costas loop report. This document is merely two reports combined into one document. The second report, about the Costas loop, was written as …

Ros Based High Performance Control Architecture For An Aerial Robotic Testbed, Christoph Hintz

Electrical and Computer Engineering ETDs

The purpose of this thesis is to show the development of an aerial testbed based on the Robot Operating System (ROS). Such a testbed provides flexibility to control heterogenous vehicles, since the robots are able to simply communication with each other on the High Level (HL) control side. ROS runs on an embedded computer on-board each quadrotor. This eliminates the need of a Ground Base Station, since the complete HL control runs on-board the Unmanned Aerial Vehicle (UAV).

The architecture of the system is explained throughout the thesis with detailed explanations of the specific hardware and software used for the …

A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber

Masters Theses

The product of this thesis aims to enable the study of the biochemical and physical dynamics of the lower limbs at high levels of muscle tension and fast contraction speeds. This is accomplished in part by a magnetic resonance (MR) compatible ergometer designed to apply a load as a torque of up to 420 Nm acting against knee extension at speeds as high as 4.7 rad/s. The system can also be adapted to apply the load as a force of up to 1200 N acting against full leg extension. The ergometer is designed to enable the use of magnetic resonance …

Design And Implementation Of Smart Sensors With Capabilities Of Process Fault Detection And Variable Prediction, An He

Electronic Thesis and Dissertation Repository

A typical sensor consists of a sensing element and a transmitter. The major functions of a transmitter are limited to data acquisition and communication. The recently developed transmitters with ‘smart’ functions have been focused on easy setup/maintenance of the transmitter itself such as self-calibration and self-configuration. Recognizing the growing computational capabilities of microcontroller units (MCUs) used in these transmitters and underutilized computational resources, this thesis investigates the feasibility of adding additional functionalities to a transmitter to make it ‘smart’ without modifying its foot-print, nor adding supplementary hardware. Hence, a smart sensor is defined as sensing elements combined with a smart …

Autonomous Speed Control For Kia Optima, Andrew J. Combs, Kyle Fugatt, Kevin Mcfall

The Kennesaw Journal of Undergraduate Research

The standard method for speed control is the cruise control system built into most modern vehicles. These systems employ a PID controller which actuates the accelerator thus, in turn, maintains the desired vehicle speed. The main drawback of such a system is that typically the cruise control will only engage above 25 mph. The goal of this paper is to describe a system which we used to control vehicle speed from a stop to any desired speed using an Arduino microcontroller and a CAN BUS shield, from where autonomous features can be built upon. With this system, we were able …

Mini High Temperature Test Unit Final Design Report, Kevin Liu, Juan P. Castillo

Mechanical Engineering

Lawrence Livermore National Laboratory has invested considerable effort to develop new standard for nuclear grade HEPA filters that can withstand high temperatures along with methods to optimally test not only the experimental filter media, but also new frame seals and media binders. Therefore, LLNL in collaboration with Cal Poly has designed and built a Mini High Temperature Testing Unit (MHTTU) to recreate conditions observed during a fire and to test different materials in an effective, inexpensive, regulated and reliable method. The existing prototype was unable to achieve the ideal testing conditions of 1000°F air at the low flow rates of …

Acceleration Amplitude Control System For Oscillating Silicon Oil Physics Experiment, Eric Chen

Electrical Engineering

This project is an ‘acceleration amplitude control system’ for use in an ‘oscillating silicon oil physics experiment’. The physics experiment has a tray of silicon oil. This tray must oscillate vertically at a specific amplitude (either at or just below the level for Faraday Waves). This control systems manages taking measurements of acceleration amplitude, and also manages correcting the shaker’s driving signal to obtain the correct acceleration. Features of the control system are designed for ease of use, because the system will mostly be operated by professor/ students without background knowledge in electrical engineering.

Light Sensing Automated Blinds, Andrew B. Hodges, Ryan C. Flick

Electrical Engineering

This project is solving the problem of wasted energy within buildings and homes, because currently the lights turned on inside building do not utilize natural, ambient light from the sun. Rather than having unnecessary light from a light source, the automated light sensing smart blinds can sense the amount of light outside the window and in the room, and then adjust the angle of the blinds to save energy by utilizing the available outdoor light. This way, the light source will not be running at maximum power output while there is excess light coming through the window. This project aims …

Dc House Energy Management System, Zachary L. Eldredge, Zoe M. Hay

Electrical Engineering

In this work, a previously completed proof of concept for an Energy Management System (EMS) for the DC House project has been revised and re-implemented. The implemented design changes will improve the performance and reproducibility of the system. This new design of the EMS replaces the two-separate buck and boost DC-DC converters with a single bidirectional DC-DC converter to reduce components and improve efficiency. Analysis of the bidirectional DC-DC converter shows high efficiency especially at larger load currents. The code of the previous work was updated for smoother operation as well as to accommodate an LCD capable of displaying more …