Controls and Control Theory Commons^™

Sensor Fusion And Non-Linear Mpc Controller Development Studies For Intelligent Autonomous Vehicular Systems, Ahammad Basha Dudekula

Dissertations, Master's Theses and Master's Reports

The demand for safety and fuel efficiency on ground vehicles and advancement in embedded systems created the opportunity to develop Autonomous controller. The present thesis work is three fold and it encompasses all elements that are required to prototype the autonomous intelligent system including simulation, state handling and real time implementation. The Autonomous vehicle operation is mainly dependent upon accurate state estimation and thus a major concern of implementing the autonomous navigation is obtaining robust and accurate data from sensors. This is especially true, in case of Inertial Measurement Unit (IMU) sensor data. The IMU consists of a 3-axis gyro, …

The Picture Fuzzy Distance Measure In Controlling Network Power Consumption, Florentin Smarandache, Ngan Thi Roan, Salvador Coll Arnau, Marina Alonso Diaz, Juan Miguel Martinez Rubio, Pedro Lopez, Fran Andujar, Son Hoang Lee, Manh Van Vu

Branch Mathematics and Statistics Faculty and Staff Publications

In order to solve the complex decision making problems, there are many approaches and systems based on fuzzy theory were proposed.

A Study Of Model-Based Control Strategy For A Gasoline Turbocharged Direct Injection Spark Ignited Engine, Xin Wang

Dissertations, Master's Theses and Master's Reports

To meet increasingly stringent fuel economy and emissions legislation, more advanced technologies have been added to spark-ignition (SI) engines, thus exponentially increase the complexity and calibration work of traditional map-based engine control. To achieve better engine performance without introducing significant calibration efforts and make the developed control system easily adapt to future engines upgrades and designs, this research proposes a model-based optimal control system for cycle-by-cycle Gasoline Turbocharged Direct Injection (GTDI) SI engine control, which aims to deliver the requested torque output and operate the engine to achieve the best achievable fuel economy and minimum emission under wide range of …

Development Of An Eco Approach And Departure Application To Improve Energy Consumption Of A Plug-In Hybrid Vehicle In Charge Depleting Mode, Brandon Narodzonek

Dissertations, Master's Theses and Master's Reports

A recent study at Michigan Technological University as part of the NEXTCAR DOE APRA-E Project was conducted to determine the potential energy savings of a plug-in hybrid electric vehicle (PHEV) equipped with various Connected and Automated Vehicle (CAV) Technologies. One aspect of this study focused on the development of an Eco Approach and Departure (Eco AnD) Application that would further reduce the energy consumed around a signalized intersection.

Many modern intersections are equipped with traffic signals that can broadcast Basic Safety (BSM), MAP, and Signal Phase and Timing (SPaT) message sets that contain intersection ID, location, current phase, and cyclic …

Real-Time Predictive Control Of Connected Vehicle Powertrains For Improved Energy Efficiency, Joseph Oncken

Dissertations, Master's Theses and Master's Reports

The continued push for the reduction of energy consumption across the automotive vehicle fleet has led to widespread adoption of hybrid and plug-in hybrid electric vehicles (PHEV) by auto manufacturers. In addition, connected and automated vehicle (CAV) technologies have seen rapid development in recent years and bring with them the potential to significantly impact vehicle energy consumption. This dissertation studies predictive control methods for PHEV powertrains that are enabled by CAV technologies with the goal of reducing vehicle energy consumption.

First, a real-time predictive powertrain controller for PHEV energy management is developed. This controller utilizes predictions of future vehicle velocity …

Landing Throttleable Hybrid Rockets With Hierarchical Reinforcement Learning In A Simulated Environment, Francesco Alessandro Stefano Mikulis-Borsoi

Honors Theses and Capstones

In this paper, I develop a hierarchical Markov Decision Process (MDP) structure for completing the task of vertical rocket landing. I start by covering the background of this problem, and formally defining its constraints. In order to reduce mistakes while formulating different MDPs, I define and develop the criteria for a standardized MDP definition format. I then decompose the problem into several sub-problems of vertical landing, namely velocity control and vertical stability control. By exploiting MDP coupling and symmetrical properties, I am able to significantly reduce the size of the state space compared to a unified MDP formulation. This paper …

Pengembangan Prototype Sistem Kendali Kualitas Air Tambak Udang, Avara Ghamaliel Ty, Pramudi Utomo

Elinvo (Electronics, Informatics, and Vocational Education)

The purpose of this article is to describe the analysis, design and performance of prototype shrimp water quality control systems. This tool is expected to simplify and ease the work of shrimp farmers in checking water quality regularly. In its design consists of several steps, namely designing the design of tools, making mechanical systems, programming, and the final stage of testing. The main component that is used as the main control is Arduino Nano. Salinity sensor, DS18b20, and PH-4520C as components for monitoring water quality. 12V DC water pump as a stabilizer of the pH level in the water. Based …

Prototipe Kursi Roda Elektrik Dengan Kendali Joystick Dan Smartphone, Andy Sadewa Junior, Fatchul Arifin

Elinvo (Electronics, Informatics, and Vocational Education)

Wheelchairs are one of the walking aids for people with disabilities and also for people who are unable to move from one place to another. The purpose of this research was to build hardware and software into a wheelchair prototype that can be controlled with joysticks and smartphones and to know its performance. The method in making the final project consists of the stages of need identification, requirements analysis, system design, tool making, tool testing and data collection. Based on the testing that has been done, the results are obtained that the control input from the smartphone through the application …

Sistem Kendali Dan Akuisisi Data Suhu Serta Kelembaban Ruang Budidaya Jamur Tiram (Pleurotus Ostreatus) Berbasis Internet Of Things (Iot), Amalia Rohmah, Satriyo Agung Dewanto

Elinvo (Electronics, Informatics, and Vocational Education)

This study aims to determine the performance of temperature and humidity control technology of the Internet of Things (IoT) automatic oyster mushroom cultivation space. The stages of device development consist of analysis, design, assembly and testing. The design developed combines hardware control, software, and cloud server. This tool consists of 3 main processes, namely input using DHT11 sensors, process and output, namely 220 V AC actuators. There are two tests namely technical and effectiveness. The test results that have been carried out are: (1) the performance test results obtained an average error of 1.44% and a mean humidity of 3.35%, …

The Potentials Of Faecal Sludge Treatment Using Local Conditioners In Tanzania: A Review, Doglas Benjamin1

Tanzania Journal of Engineering and Technology (TJET)

Worldwide, every day human beings generate millions of tons of Faecal Sludge (FS), which is rich in water, nutrients, energy, and organic compounds. Yet FS is not being managed in a way that permits us to derive value from its reuse, while at the same time, millions of farmers struggle with depleted soils and lack of water. In most of the developing countries, energy for cooking is mainly derived from cutting of trees, either as wood or charcoal. Resource recovery and reuse from FS can create livelihoods, enhance food security, support green economies, reduce waste and contribute to cost recovery …

The Challenges Facing Autonomous Vehicles And The Progress In Addressing Them, Garrett Johnson

Senior Honors Theses

Autonomous vehicles are an emerging technology that faces challenges, both technical and socioeconomic. This paper first addresses specific technical challenges, such as parsing visual data, communicating with other entities, and making decisions based on environmental knowledge. The technical challenges are to be addressed by the fields of image processing, Vehicle to Everything Communication (V2X), and decision-making systems. Non-technical challenges such as ethical decision making, social acceptance, and economic pushback are also discussed. Ethical decision making is discussed in the framework of deontology vs utilitarianism, while social acceptance of utilitarian autonomous vehicles is also investigated. Last, the likely economic impact is …

Design, Modeling And Control Of A Two-Wheel Balancing Robot Driven By Bldc Motors, Charles T. Refvem

Master's Theses

The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer. …

Bitcoin Price Prediction Using Neural Networks, Vladislav Killiakov

Electrical Engineering

In this project, I will investigate the performance of several major neural network architectures for the task of Bitcoin price prediction. Bitcoin is a cryptocurrency that is recently becoming increasingly more popular, and more widely adopted as a financial instrument. As a result, more efforts have been made in the past several years to model and predict its price. However, to this moment a large portion of work on Bitcoin price modeling was done using statistical or classical machine learning techniques. At the same time, other artificial intelligence based prediction techniques, and specifically neural networks, have not been explored to …

Demand-Side Load Management Using Single-Phase Residential Static Var Compensators, Muhammad Kamran Latif

Boise State University Theses and Dissertations

Distribution systems are going through a structural transformation from being radially-operated simple systems to becoming more complex networks to operate in the presence of the distributed energy resources (DERs) with significant levels of penetration. It is predicted that the share of electricity generation from DERs will keep increasing as the world is moving away from the power generation involving carbon-emission and towards cleaner energy sources such as solar, wind, and biofuels. However, the unstable behavior of the renewables resources presents challenges to the already existing distribution systems. One such problem is when the distribution feeder experience variable power supply due …

Fractional Order State Feedback Control For Improved Lateral Stability Of Semi-Autonomous Commercial Heavy Vehicles, Rasheed Mazen Abdulkader

Graduate Theses and Dissertations

With the growing development of autonomous and semi-autonomous large commercial heavy vehicles, the lateral stability control of articulated vehicles have caught the attention of researchers recently. Active vehicle front steering (AFS) can enhance the handling performance and stability of articulated vehicles for an emergency highway maneuver scenario. However, with large vehicles such tractor-trailers, the system becomes more complex to control and there is an increased occurrence of instabilities. This research investigates a new control scheme based on fractional calculus as a technique that ensures lateral stability of articulated large heavy vehicles during evasive highway maneuvering scenarios. The control method is …

Vision-Based Autonomous Tracking Of A Non-Cooperative Mobile Robot By A Low-Cost Quadrotor Vehicle, Cheikhna Ahmed Tidiane Sy

Electrical and Computer Engineering ETDs

The goal of this thesis is the detection and tracking of a ground vehicle, in particular a car-like robot, by a quadrotor. The first challenge to address in any pursuit or tracking scenario is the detection and unique identification of the target. From this first challenge, comes the need to precisely localize the target in a coordinate system that is common to the tracking and tracked vehicles. In most real-life scenarios, the tracked vehicle does not directly communicate information such as its position to the tracking one. From this fact, arises a non-cooperative constraint problem. The autonomous tracking aspect of …

A Multi-Agent Systems Approach For Analysis Of Stepping Stone Attacks, Marco Antonio Gamarra

Electrical & Computer Engineering Theses & Dissertations

Stepping stone attacks are one of the most sophisticated cyber-attacks, in which attackers make a chain of compromised hosts to reach a victim target. In this Dissertation, an analytic model with Multi-Agent systems approach has been proposed to analyze the propagation of stepping stones attacks in dynamic vulnerability graphs. Because the vulnerability configuration in a network is inherently dynamic, in this Dissertation a biased min-consensus technique for dynamic graphs with fixed and switching topology is proposed as a distributed technique to calculate the most vulnerable path for stepping stones attacks in dynamic vulnerability graphs. We use min-plus algebra to analyze …

An Application Of Sliding Mode Control To Model-Based Reinforcement Learning, Aaron Thomas Parisi

Master's Theses

The state-of-art model-free reinforcement learning algorithms can generate admissible controls for complicated systems with no prior knowledge of the system dynamics, so long as sufficient (oftentimes millions) of samples are available from the environ- ment. On the other hand, model-based reinforcement learning approaches seek to leverage known optimal or robust control to reinforcement learning tasks by mod- elling the system dynamics and applying well established control algorithms to the system model. Sliding-mode controllers are robust to system disturbance and modelling errors, and have been widely used for high-order nonlinear system control. This thesis studies the application of sliding mode control …

Utilizing Trajectory Optimization In The Training Of Neural Network Controllers, Nicholas Kimball

Master's Theses

Applying reinforcement learning to control systems enables the use of machine learning to develop elegant and efficient control laws. Coupled with the representational power of neural networks, reinforcement learning algorithms can learn complex policies that can be difficult to emulate using traditional control system design approaches. In this thesis, three different model-free reinforcement learning algorithms, including Monte Carlo Control, REINFORCE with baseline, and Guided Policy Search are compared in simulated, continuous action-space environments. The results show that the Guided Policy Search algorithm is able to learn a desired control policy much faster than the other algorithms. In the inverted pendulum …

A Legal Study On Challenges Confronted By Unmanned Ships, Minhe Li

Maritime Safety & Environment Management Dissertations (Dalian)

No abstract provided.