Controls and Control Theory Commons^™

Actuator Cyberattack Handling Using Lyapunov-Based Economic Model Predictive Control, Keshav Kasturi Rangan, Henrique Oyama, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

Cybersecurity has gained increasing interest as a consequence of the potential impacts of cyberattacks on profits and safety. While attacks can affect various components of a plant, prior work from our group has focused on the impact of cyberattacks on control components such as process sensors and actuators and the development of detection strategies for cybersecurity derived from control theory. In this work, we provide greater focus on actuator attacks; specifically, we extend a detection and control strategy previously applied for sensor attacks and based on an optimization-based control technique called Lyapunov-based economic model predictive control (LEMPC) to detect attacks …

Test Methods For Image-Based Information In Next-Generation Manufacturing, Henrique Oyama, Dominic Messina, Renee O'Neill, Samantha Cherney, Minhazur Rahman, Keshav Kasturi Rangan, Govanni Gjonaj, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

Typical control designs in the process systems engineering literature have assumed that the primary sensing methodologies are traditional instruments such as thermocouples. Dig- italization is changing the landscape for manufacturing, and data-based sensing modalities (e.g., image-based sensing) are becoming of greater interest for plant control. These considerations require novel test/evaluation solutions. For example, process systems engineering researchers may wish to test image-based sensors in simulation. In this work, we provide preliminary thoughts on how image-based technologies might be evaluated via simulation for process systems.

Quantum Computing And Resilient Design Perspectives For Cybersecurity Of Feedback Systems, Keshav Kasturi Rangan, Jihan Abou Halloun, Henrique Oyama, Samantha Cherney, Ilham Azali Assoumani, Nazir Jairazbhoy, Helen Durand, Simon Ka Ng

Chemical Engineering and Materials Science Faculty Research Publications

Cybersecurity of control systems is an important issue in next-generation manufac- turing that can impact both operational objectives (safety and performance) as well as process designs (via hazard analysis). Cyberattacks differ from faults in that they can be coordinated efforts to exploit system vulnerabilities to create otherwise unlikely hazard scenarios. Because coordination and targeted process manipulation can be characteristics of attacks, some of the tactics previously analyzed in our group from a control system cybersecurity perspective have incorporated randomness to attempt to thwart attacks. The underlying assumption for the generation of this randomness has been that it can be achieved …

Challenges And Opportunities For Next-Generation Manufacturing In Space, Kip Nieman, A. F. Leonard, Katie Tyrell, Dominic Messina, Rebecca Lopez, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

With commercial space travel now a reality, the idea that people might spend time on other planets in the future seems to have greater potential. To make this possible, however, there needs to be flexible means for manufacturing in space to enable tooling or resources to be created when needed to handle unexpected situations. Next-generation manufacturing paradigms offer significant potential for the kind of flexibility that might be needed; however, they can result in increases in computation time compared to traditional control methods that could make many of the computing resources already available on earth attractive for use. Furthermore, resilience …

On-Line Process Physics Tests Via Lyapunov-Based Economic Model Predictive Control And Simulation-Based Testing Of Image-Based Process Control, Henrique Oyama, A. F. Leonard, Minhazur Rahman, Govanni Gjonaj, Michael Williamson, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

Next-generation manufacturing involves increasing use of automation and data to enhance process efficiency. An important question for the chemical process industries, as new process systems (e.g., intensified processes) and new data modalities (e.g., images) are integrated with traditional plant automation concepts, will be how to best evaluate alternative strategies for data-driven modeling and synthesizing process data. Two methods which could be used to aid in this are those which aid in testing data-based techniques on-line, and those which enable various data-based techniques to be assessed in simulation. In this work, we discuss two techniques in this domain which can be …

Quantum Computing And Resilient Design Perspectives For Cybersecurity Of Feedback Systems, Keshav Kasturi Rangan, Jihan Abou Halloun, Henrique Oyama, Samantha Cherney, Ilham Azali Assoumani, Nazir Jairazbhoy, Helen Durand, Simon Ka Ng

Chemical Engineering and Materials Science Faculty Research Publications

Cybersecurity of control systems is an important issue in next-generation manufac- turing that can impact both operational objectives (safety and performance) as well as process designs (via hazard analysis). Cyberattacks differ from faults in that they can be coordinated efforts to exploit system vulnerabilities to create otherwise unlikely hazard scenarios. Because coordination and targeted process manipulation can be characteristics of attacks, some of the tactics previously analyzed in our group from a control system cybersecurity perspective have incorporated randomness to attempt to thwart attacks. The underlying assumption for the generation of this randomness has been that it can be achieved …

Developing A Miniature Smart Boat For Marine Research, Michael Isaac Eirinberg

Computer Engineering

This project examines the development of a smart boat which could serve as a possible marine research apparatus. The smart boat consists of a miniature vessel containing a low-cost microcontroller to live stream a camera feed, GPS telemetry, and compass data through its own WiFi access point. The smart boat also has the potential for autonomous navigation. My project captivated the interest of several members of California Polytechnic State University, San Luis Obispo’s (Cal Poly SLO) Marine Science Department faculty, who proposed a variety of fascinating and valuable smart boat applications.

Model-Based Design Of An Optimal Lqg Regulator For A Piezoelectric Actuated Smart Structure Using A High-Precision Laser Interferometry Measurement System, Grant P. Gallagher

Master's Theses

Smart structure control systems commonly use piezoceramic sensors or accelerometers as vibration measurement devices. These measurement devices often produce noisy and/or low-precision signals, which makes it difficult to measure small-amplitude vibrations. Laser interferometry devices pose as an alternative high-precision position measurement method, capable of nanometer-scale resolution. The aim of this research is to utilize a model-based design approach to develop and implement a real-time Linear Quadratic Gaussian (LQG) regulator for a piezoelectric actuated smart structure using a high-precision laser interferometry measurement system to suppress the excitation of vibratory modes.

The analytical model of the smart structure is derived using the …

Smartphone Control Of Rc Cars, Weston R. Fitzgerald

Electrical Engineering

The smartphone-controlled RC (remote-controlled) car is an inexpensive remote-controlled car designed to be fast and portable. Instead of manufacturing, packaging, and shipping a separate controller, the remote control is implemented in a phone application, which saves time and money in both the design process and the manufacturing process. Utilizing the user’s smartphone is more cost-effective since mobile devices are a common recurrence, and packaging fewer devices results in overall better portability of the product.

This smartphone-controlled car is speedy and intuitive to learn for typical smartphone users. The user can change the car’s speed and direction wirelessly using their phone; …

Iterative Learning Control - Moving From Theory To Applications, Bing Chu, Eric Rogers

CONTROL 2022: 13th United Kingdom Automatic Control Council (UKACC) International Conference

Iterative learning control applies to systems performing the same finite duration task repeatedly. Each execution is known as a trial, and the finite duration of each trial is known as the trial length. A reference trajectory is specified, and then the design can proceed based on minimizing the error sequence with entries formed as the difference between the output on a trial and the reference vector. The starting point for ILC is widely accepted as research in the mid1980s in the robotics area. Since then, ILC has remained an active area of research, starting with the underlying theory and proceeding …

Deployment Considerations For Autonomous And Integrated Mobility Services Of The Future, Panagiotis Georgakis

CONTROL 2022: 13th United Kingdom Automatic Control Council (UKACC) International Conference

No abstract provided.

Programming An Autonomous Vehicle Ethical Decision Maker Based On Injury Severity, James E. Pickering

CONTROL 2022: 13th United Kingdom Automatic Control Council (UKACC) International Conference

No abstract provided.

Issues Building An Autonomous Vehicle, Paul King

CONTROL 2022: 13th United Kingdom Automatic Control Council (UKACC) International Conference

No abstract provided.

Closed-Loop Brain-Computer Interfaces For Memory Restoration Using Deep Brain Stimulation, David Xiaoliang Wang

Electrical Engineering Theses and Dissertations

The past two decades have witnessed the rapid growth of therapeutic brain-computer interfaces (BCI) targeting a diversity of brain dysfunctions. Among many neurosurgical procedures, deep brain stimulation (DBS) with neuromodulation technique has emerged as a fruitful treatment for neurodegenerative disorders such as epilepsy, Parkinson's disease, post-traumatic amnesia, and Alzheimer's disease, as well as neuropsychiatric disorders such as depression, obsessive-compulsive disorder, and schizophrenia. In parallel to the open-loop neuromodulation strategies for neuromotor disorders, recent investigations have demonstrated the superior performance of closed-loop neuromodulation systems for memory-relevant disorders due to the more sophisticated underlying brain circuitry during cognitive processes. Our efforts are …

Manual Material Handling Lift-Assist System For Occupational Exoskeleton, Erik Goes, Daniel Guthrie, Trevor Ward

Honors Capstones

It is no secret that lifting heavy objects is one of the premier causes of workplace injury, and the modern worker needs help to remain healthy. Workers need something they always have with them that makes their work safer as well as easier; our solution is an active lift-assist exoskeleton. The proposed exoskeleton design includes a military backpack exoskeleton frame, on which two actuators pull cables attached to end effectors that the operator will be holding. This system can adjust to conform to a wide variety of operator sizes, without restricting any of their range of motion. This leads to …

Improving Intelligent Transportation Safety And Reliability Through Lowering Costs, Integrating Machine Learning, And Studying Model Sensitivity, Cavender Holt

All Theses

As intelligent transportation becomes increasingly prevalent in the domain of transportation, it is essential to understand the safety, reliability, and performance of these systems. We investigate two primary areas in the problem domain. The first area concerns increasing the feasibility and reducing the cost of deploying pedestrian detection systems to intersections in order to increase safety. By allowing pedestrian detection to be placed in intersections, the data can be better utilized to create systems to prevent accidents from occurring. By employing a dynamic compression scheme for pedestrian detection, we show the reduction of network bandwidth improved by 2.12× over the …

Control, Decision-Making, And Learning Approaches For Connected And Autonomous Driving Systems With Humans-In-The-Loop, Fangjian Li

All Dissertations

By virtue of vehicular connectivity and automation, the vehicle becomes increasingly intelligent and self-driving capable. However, no matter what automation level the vehicle can achieve, humans will still be in the loop despite their roles. First, considering the manual driving car as a disturbance to the connected and autonomous vehicles (CAVs), a novel string stability is proposed for mixed traffic platoons consisting of both autonomous and manual driving cars to guarantee acceptable motion fluctuation and platoon safety. Furthermore, humans are naturally considered as the rider in the passenger vehicle. A human-centered cooperative adaptive cruise control (CACC) is designed to improve …

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 …

Analysis And Optimization Of The Two-Phase Series Capacitor Buck Dc-Dc Converter, Salahaldein Ali Aboajila Ahmed

Graduate Theses and Dissertations

Current sharing schemes for conventional multi-phase converters are based on sensing each phase current to deliver the current information to their controllers. In conventional buck converters, this fact may require a preset current sharing ratio at the expense of efficiency, which eventually requires a larger sensing circuit to achieve the sensing accuracy of each phase. Introducing the concept of automatic current sharing is one of the solutions to tackle this issue. Automatic current sharing (Current Sharing Mechanism CSM) is an advanced way to distribute heat generation in multi-phase switching topologies at full load. A two-phase series capacitor buck converter (2-pscB) …

Environmental Exploration With Long, Thin Tendril Robots, Or Building Plant Based Robots And Teaching Them How To Feel, Michael Benjamin Wooten

All Dissertations

Continuum robots offer unique potential benefits for environmental exploration, notably in using their maneuverability to navigate congested environments. In this dissertation, we show how circumnutation, a motion strategy, commonly employed by plants, can be implemented, and usefully exploited, with continuum robots. We discuss how the kinematics of circumnutation, which combines local backbone growth with periodic backbone bending, can be created using extensible continuum robot hardware. The underlying kinematics are generated by adapting kinematic models of plant growth. We illustrate the effectiveness of that approach with experimental results with a tendril robot exploring a congested environment. However, significant challenges remain in …