Pulse-Coupled Oscillator Networks: Achieving Phase Continuity And Learning Optimal Control In Physical Systems,
2022
Clemson University
Pulse-Coupled Oscillator Networks: Achieving Phase Continuity And Learning Optimal Control In Physical Systems, Timothy Anglea
All Dissertations
In this dissertation, we consider the application of pulse-coupled oscillator theory to real-world, physical networks. When the phase of an oscillator is associated with a physical measure, such as clock timing or robotic heading, discontinuous adjustments of the oscillator's phase is undesirable and potentially disadvantageous. Rather, continuous adjustment of the oscillator phase value is needed over a certain amount of time. To ensure that both synchronization and desynchronization can still be achieved under the constraint of continuous phase value changes, we pursue a novel approach to analyze the generalization of a pulse-coupled oscillator network with a time-varying coupling strength. We …
Live Access Control Policy Error Detection Through Hardware,
2022
University of Arkansas, Fayetteville
Live Access Control Policy Error Detection Through Hardware, Bryce Mendenhall
Graduate Theses and Dissertations
Access Control (AC) is a widely used security measure designed to protect resources and infrastructure in an information system. The integrity of the AC policy is crucial to the protection of the system. Errors within an AC policy may cause many vulnerabilities such as information leaks, information loss, and malicious activities. Thus, such errors must be detected and promptly fixed. However, current AC error detection models do not allow for real-time error detection, nor do they provide the source of errors. This thesis presents a live error detection model called LogicDetect which utilizes emulated Boolean digital logic circuits to provide …
Development Of A Compliant Gripper Driven By 3 Dof Soft Robot,
2022
Kennesaw State University
Development Of A Compliant Gripper Driven By 3 Dof Soft Robot, Derek M. Price Ii, Ricardo Ramirez, Pt Angel Tran
Symposium of Student Scholars
Industrial robots are moving toward automation, which makes it increasingly necessary to replace the functions traditionally performed by humans with robotics. Pick and place operation is a prime example of such automation. Robots that pick up and place objects mimic the human action of picking an object up and placing it in a targeted location. It has led to the development of robotic end-effectors that have a human-like feel. Grippers can be articulated in various ways depending on their application area and well-defined desired tasks. As compliant and soft links deflect more under the same load than their rigid body …
Ai Based Optimization Of Odometry Performance On Mobile Robots,
2022
Kennesaw State University
Ai Based Optimization Of Odometry Performance On Mobile Robots, Sunny Leveson Jones, Charles Koduru
Symposium of Student Scholars
Robots have become a large part of the modern world and have been used to navigate through complex environments, with various optimal speeds and pathing requirements. To improve this, we have developed an AI-based predictive pathing optimizer that takes in data regarding the requested route and implements optimal speeds. The algorithm will compare time lost to the time gained by moving at a higher velocity. This has been developed by implementing continual circular patterns onto a mobile robot, which allows for rapid analysis of both the accuracy and the speed of the cycle. This optimization is proposed to increase the …
Lyapunov-Based Economic Model Predictive Control For Detecting And Handling Actuator And Simultaneous Sensor/Actuator Cyberattacks On Process Control Systems,
2022
Department of Chemical Engineering and Materials Science, Wayne State University, Detroit, MI
Lyapunov-Based Economic Model Predictive Control For Detecting And Handling Actuator And Simultaneous Sensor/Actuator Cyberattacks On Process Control Systems, Henrique Oyama, Dominic Messina, Keshav Kasturi Rangan, Helen Durand
Chemical Engineering and Materials Science Faculty Research Publications
The controllers for a cyber-physical system may be impacted by sensor measurement cyberattacks, actuator signal cyberattacks, or both types of attacks. Prior work in our group has developed a theory for handling cyberattacks on process sensors. However, sensor and actuator cyberattacks have a different character from one another. Specifically, sensor measurement attacks prevent proper inputs from being applied to the process by manipulating the measurements that the controller receives, so that the control law plays a role in the impact of a given sensor measurement cyberattack on a process. In contrast, actuator signal attacks prevent proper inputs from being applied …
Real-Time Complex Hand Gestures Recognition Based On Multi- Dimensional Features,
2022
University of Dar es salaam
Real-Time Complex Hand Gestures Recognition Based On Multi- Dimensional Features, Isack Bulugu
Tanzania Journal of Engineering and Technology (TJET)
Gesture recognition is broadly utilized within the field of sensing. There are basically three gesture recognition methods based on computer vision, depth sensor and motion sensor. Motion sensor-based gesture recognition has few input data, fast speed, and direct access to three- dimensional information of the hand. The advantages of traditional motion sensor-based gesture recognition have gradually become a current research hotspot. The essence of traditional motion sensor-based gesture recognition is a pattern recognition problem, and its accuracy depends heavily on the feature dataset extracted from prior experience. Unlike traditional pattern recognition methods, deep learning can be used to a large …
Modeling And Control Of Direct-Conversion Hybrid Switched-Capacitor Dc-Dc Converters,
2022
Dartmouth College
Modeling And Control Of Direct-Conversion Hybrid Switched-Capacitor Dc-Dc Converters, Ziyu Xia
Dartmouth College Ph.D Dissertations
Efficient power delivery is increasingly important in modern computing, communications, consumer and other electronic systems, due to the high power demand and thermal concerns accompanied by performance advancements and tight packaging. In pursuit of high efficiency, small physical volume, and flexible regulation, hybrid switched-capacitor topologies have emerged as promising candidates for such applications. By incorporating both capacitors and inductors as energy storage elements, hybrid topologies achieve high power density while still maintaining soft charging and efficient regulation characteristics. However, challenges exist in the hybrid approach. In terms of reliability, each flying capacitor should be maintained at a nominal `balanced' voltage …
Modeling Human Control Behavior In Command-Following Tasks,
2022
University of Kentucky
Modeling Human Control Behavior In Command-Following Tasks, Sajad Koushkbaghi
Theses and Dissertations--Mechanical and Aerospace Engineering
Humans interact with a variety of complex dynamic systems on a daily basis. However, they are often the lesser understood component of human-in-the-loop (HITL) systems. In this dissertation, we present the results of two HITL experiments to investigate the control strategies that humans use when performing command-following tasks. The first experiment is designed to investigate the control strategies that humans use to interact with nonlinear dynamic systems. Two groups of human subjects interact with a dynamic system and perform a command-following task. One group interacts with a linear time-invariant (LTI) dynamic system and the other group interacts with a Wiener …
Formation Control With Bounded Controls And Collision Avoidance: Theory And Application To Quadrotor Unmanned Air Vehicles,
2022
University of Kentucky
Formation Control With Bounded Controls And Collision Avoidance: Theory And Application To Quadrotor Unmanned Air Vehicles, Zachary S. Lippay
Theses and Dissertations--Mechanical and Aerospace Engineering
This dissertation presents new results on multi-agent formation control and applies the new control algorithms to quadrotor unmanned air vehicles. First, this dissertation presents a formation control algorithm for double-integrator agents, where the formation is time varying and the agents’ controls satisfy a priori bounds (e.g., the controls accommodate actuator saturation). The main analytic results provide sufficient conditions such that all agents converge to the desired time-varying relative positions with one another and the leader, and have a priori bounded controls (if applicable). We also present results from rotorcraft experiments that demonstrate the algorithm with time-varying formations and bounded controls. …
The Effects Of Reference-Command Preview On The Strategies That Humans Use In Command-Following Tasks,
2022
University of Kentucky
The Effects Of Reference-Command Preview On The Strategies That Humans Use In Command-Following Tasks, Amelia J. S. Sheffler
Theses and Dissertations--Mechanical and Aerospace Engineering
This thesis presents results from an experiment in which 22 human subjects each interact with a dynamic system 40 times over a one-week period. For each interaction, a subject performs a command-following task, where the reference command is the same for all 22 subjects but different on each trial. The subjects are divided into 2 groups of 11 subjects. One group performs the command-following task without reference-command preview. The other group is provided with 1-s preview of the reference command. The experimental results are used to examine the effects of reference-command preview. For the group with 1-s reference-command preview, the …
Experimental Comparison Of Two Sampled-Data Adaptive Control Algorithms For Rejecting Sinusoidal Disturbances,
2022
University of Kentucky
Experimental Comparison Of Two Sampled-Data Adaptive Control Algorithms For Rejecting Sinusoidal Disturbances, William Grayson Woods
Theses and Dissertations--Mechanical and Aerospace Engineering
We review two adaptive control algorithms that address the problem of rejecting sinusoids with known frequencies that act on an unknown asymptotically stable linear time-invariant system. We present modifications to the algorithms that address the problems of sensor noise and actuator saturation. We demonstrate the effectiveness of the algorithms and compare the performance of the algorithms via numerical simulation and experimental testing.
A Formal Power Series Approach To Multiplicative Dynamic And Static Output Feedback,
2022
Old Dominion University
A Formal Power Series Approach To Multiplicative Dynamic And Static Output Feedback, Venkatesh Subbarao Guggilam
Electrical & Computer Engineering Faculty Publications
The goal of the paper is two-fold. The first of which is to derive an explicit formula to compute the generating series of a closed-loop system when a plant, given in a Chen-Fliess series description is in multiplicative output feedback connection with another system given in Chen-Fliess series description. In addition, the multiplicative dynamic output feedback connection has a natural interpretation as a transformation group acting on the plant. The second of the two-part goal of this paper is same as the first part albeit when the Chen-Fliess series in the feedback is replaced by a memoryless map, so called …
Learning Robot Motion From Creative Human Demonstration,
2022
Virginia Commonwealth University
Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel
Theses and Dissertations
This thesis presents a learning from demonstration framework that enables a robot to learn and perform creative motions from human demonstrations in real-time. In order to satisfy all of the functional requirements for the framework, the developed technique is comprised of two modular components, which integrate together to provide the desired functionality. The first component, called Dancing from Demonstration (DfD), is a kinesthetic learning from demonstration technique. This technique is capable of playing back newly learned motions in real-time, as well as combining multiple learned motions together in a configurable way, either to reduce trajectory error or to generate entirely …
Smart City Management Using Machine Learning Techniques,
2022
Virginia Commonwealth University
Smart City Management Using Machine Learning Techniques, Mostafa Zaman
Theses and Dissertations
In response to the growing urban population, "smart cities" are designed to improve people's quality of life by implementing cutting-edge technologies. The concept of a "smart city" refers to an effort to enhance a city's residents' economic and environmental well-being via implementing a centralized management system. With the use of sensors and actuators, smart cities can collect massive amounts of data, which can improve people's quality of life and design cities' services. Although smart cities contain vast amounts of data, only a percentage is used due to the noise and variety of the data sources. Information and communication technology (ICT) …
Model Predictive Control Of Energy Systems For Heat And Power Applications,
2022
Michigan Technological University
Model Predictive Control Of Energy Systems For Heat And Power Applications, Chethan Ramakrishna Reddy
Dissertations, Master's Theses and Master's Reports
Building and transportation sectors together account for two-thirds of the total energy consumption in the US. There is a need to make these energy systems (i.e., buildings and vehicles) more energy efficient. One way to make grid-connected buildings more energy efficient is to integrate the heating, ventilation and air conditioning (HVAC) system of the building with a micro-scale concentrated solar power (MicroCSP) sys- tem. Additionally, one way to make vehicles driven by internal combustion engine (ICE) more energy efficient is by integrating the ICE with a waste heat recovery (WHR) system. But, both the resulting energy systems need a smart …
Self-Oscillating Induction Heater,
2022
Michigan Technological University
Self-Oscillating Induction Heater, Patrick Rice
Dissertations, Master's Theses and Master's Reports
This report develops a control system to keep an induction heater in resonance. When a metallic workpiece is inserted in the air core of the workcoil, the resonant frequency changes. Different workpiece materials affect the resonant frequency and power. This presents a problem since changing the resonant frequency of the circuit while keeping the frequency constant reduces the maximum power of the circuit. Finite element analysis is used to find the circuit parameters of the workcoil and workpiece interaction. A non-linear controller which oscillates based on the resonant frequency of an LC tank is created. Nyquist and describing function analysis …
Autonomous Coffee Brewing System,
2022
The University of Akron
Autonomous Coffee Brewing System, Lillian Gonzalez, Landon Miller, Tyler Moff, Benjamin Vitu
Williams Honors College, Honors Research Projects
Coffee consumers want an affordable, high-quality cup of coffee that takes minimal time to brew and does not excessively contribute plastic to landfills. A fully autonomous system which utilizes whole coffee beans, water, and filters to brew coffee was designed to meet this need. This system accepts user requests which specify the brew’s portion size, water temperature, and brew strength, as well as the time which the system should begin the brewing process. Occasional maintenance to empty the system’s built-in waste receptacle or resupply the system with water, coffee beans, or filters is the only user intervention required. This report …
Magic: The Gathering Card Virtualizer,
2022
The University of Akron
Magic: The Gathering Card Virtualizer, Vincent Garbonick, Jacen C. Conlan, Jaret A. Varn
Williams Honors College, Honors Research Projects
Any well-versed Magic: The Gathering (MTG) player or collector knows how difficult it can be to keep track of all cards in their collection. Some spend hours searching for that one specific card, and others are constantly scouring the internet for how much their collection costs. However, this issue does not only affect casual fans. Resale companies spend hours a day determining the costs of cards, and tournament judges painstakingly check players’ decks to ensure they are not cheating. To assist with these struggles, the design team proposed to create the MTG Card Virtualizer. This device scans MTG playing cards …
Study Of Electric Vehicle Smart Charging And Energy Management For Vehicle-Grid Integration Systems,
2022
Michigan Technological University
Study Of Electric Vehicle Smart Charging And Energy Management For Vehicle-Grid Integration Systems, Zhouquan Wu
Dissertations, Master's Theses and Master's Reports
The emerging need of building an efficient Electric Vehicle (EV) charging infrastructure requires the investigation of all aspects of Vehicle-Grid Integration (VGI). This dissertation studies the optimal EV charging control and energy management of VGI system to address the economic benefits of EV charging customers and operation stability of distribution power grids. First of all, a centralized EV charging control method is developed under the transactive energy environment to minimize the EV charging cost and avoid the distribution power grid overloading. The quadratic programming is used to obtain optimized charging control actions. Case studies with hundreds of EVs are conducted …
Stability Approximation Method For Pulse Loads In Power Electronic Systems,
2022
Michigan Technological University
Stability Approximation Method For Pulse Loads In Power Electronic Systems, Eduardo A. Marmol D
Dissertations, Master's Theses and Master's Reports
Pulse loads on power electronic distribution systems are becoming very popular nowadays as the components of ships and airplanes are moving to more electric power. However, the pulse loads have a destabilizing effect on the power distribution system. Usually, the method used to study the stability of this type of system are small-signal analyses and are based on a system where the load is modeled as a constant. Since DC-DC systems with pulsed loads are very nonlinear, a small-signal analysis does not provide helpful information related to the stability of the system. The work presented in this thesis focuses on …
