Real-Time Path Planning In Constrained, Uncertain Environments,
2019
Utah State University
Real-Time Path Planning In Constrained, Uncertain Environments, Randall Christensen, Robert C. Leishman
Faculty Publications
A key enabler of autonomous vehicles is the ability to plan the path of the vehicle to accomplish mission objectives. To be robust to realistic environments, path planners must account for uncertainty in the trajectory of the vehicle as well as uncertainty in the location of obstacles. The uncertainty in the trajectory of the vehicle is a difficult quantity to estimate, and is influenced by coupling between the vehicle dynamics, guidance, navigation, and control system as well as any disturbances acting on the vehicle. Monte Carlo analysis is the conventional approach to determine vehicle dispersion, while accounting for the coupled …
Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control,
2019
West Virginia University
Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control, Hadi Kazemi
Graduate Theses, Dissertations, and Problem Reports (ETD)
Information obtainable from Intelligent Transportation Systems (ITS) provides the possibility of improving the safety and efficiency of vehicles at different levels. In particular, such information has the potential to be utilized for prediction of driving conditions and traffic flow, which allows us to improve the performance of the control systems in different vehicular applications, such as Hybrid Electric Vehicles (HEVs) powertrain control and Cooperative Adaptive Cruise Control (CACC). In the first part of this work, we study the design of an MPC controller for a Cooperative Adaptive Cruise Control (CACC) system, which is an automated application that provides the drivers …
Sistem Buka Tutup Pintu Otomatis Berbasis Suara,
2018
Universitas Negeri Semarang, Indonesia
Sistem Buka Tutup Pintu Otomatis Berbasis Suara, Sinta Ariyanti, Slamet Seno Adi, Sugeng Purbawanto
Elinvo (Electronics, Informatics, and Vocational Education)
Biometric identification is one of the media on the operation of the system of home automation are much sought after.This is because conventional identification such as the use of your PIN, password, and a key card is already not enough reliable, in terms of security and how to operate.Biometrics is essentially an introduction to someone based on the unique personality of each person owned such as facial recognition, fingerprints, voice recognition, the introduction of the retina, and signature.Voice recognition is a process to identify a person by recognizing speech from that person.The purpose of this research is to know the …
Modeling And Simulation Methodologies For Spinal Cord Stimulation.,
2018
University of Louisville
Modeling And Simulation Methodologies For Spinal Cord Stimulation., Saliya Kumara Kirigeeganage
Electronic Theses and Dissertations
The use of neural prostheses to improve health of paraplegics has been a prime interest of neuroscientists over the last few decades. Scientists have performed experiments with spinal cord stimulation (SCS) to enable voluntary motor function of paralyzed patients. However, the experimentation on the human spinal cord is not a trivial task. Therefore, modeling and simulation techniques play a significant role in understanding the underlying concepts and mechanics of the spinal cord stimulation. In this work, simulation and modeling techniques related to spinal cord stimulation were investigated. The initial work was intended to visualize the electric field distribution patterns in …
Creating A Computational Tool To Simulate Vibration Control For Piezoelectric Devices,
2018
Western Kentucky University
Creating A Computational Tool To Simulate Vibration Control For Piezoelectric Devices, Ahmet Ozkan Ozer, Emma J. Moore
Posters-at-the-Capitol
Piezoelectric materials have the unique ability to convert electrical energy to mechanical vibrations and vice versa. This project takes a stab to develop a reliable computational tool to simulate the vibration control of a novel “partial differential equation” model for a piezoelectric device, which is designed by integrating electric conducting piezoelectric layers constraining a viscoelastic layer to provide an active and lightweight intelligent structure. Controlling unwanted vibrations on piezoelectric devices (or harvesting energy from ambient vibrations) through piezoelectric layers has been the major focus in cutting-edge engineering applications such as ultrasonic welders and inchworms. The corresponding mathematical models for piezoelectric …
Effect Of Wireless Communication Delay On Dc Microgrids Performance,
2018
CUNY City College
Effect Of Wireless Communication Delay On Dc Microgrids Performance, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed
Publications and Research
This paper investigates the effect of wireless communication technologies latency on the converters and the bus voltage of centrally communication based controlled DC microgrids (MGs) during islanding. A DC microgrid with its communication based control scheme was modeled to show the impact of latency. Simulation results show that the impact may be severe depending on the design, and the operational condition of the microgrid before latency occurs.
Impact Of Communication Latency On The Bus Voltage Of Centrally Controlled Dc Microgrid During Islanding,
2018
CUNY City College
Impact Of Communication Latency On The Bus Voltage Of Centrally Controlled Dc Microgrid During Islanding, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed
Publications and Research
Maintaining a sustainable and reliable source of energy to supply critical loads within a renewable energy based microgrid (MG) during blackouts is directly related to its bus voltage variations. For example, voltage variation might trigger protection devices and disconnect DERs within the MG. Centrally controlled MGs (CCMGs) type is dependent on communication. Therefore, it is very important to analyze the impact of communication networks performance degradation, such as latency, on the bus voltage of CCMGs. This paper investigates the effect of wireless communication technologies latency on the bus voltage and performance of centralized DC MGs. Two mathematical models were developed …
A Nonlinear Systems Framework For Cyberattack Prevention For Chemical Process Control Systems,
2018
Wayne State University
A Nonlinear Systems Framework For Cyberattack Prevention For Chemical Process Control Systems, Helen Durand
Chemical Engineering and Materials Science Faculty Research Publications
Recent cyberattacks against industrial control systems highlight the criticality of preventing future attacks from disrupting plants economically or, more critically, from impacting plant safety. This work develops a nonlinear systems framework for understanding cyberattack-resilience of process and control designs and indicates through an analysis of three control designs how control laws can be inspected for this property. A chemical process example illustrates that control approaches intended for cyberattack prevention which seem intuitive are not cyberattack-resilient unless they meet the requirements of a nonlinear systems description of this property.
An Improved Control Algorithm For Ship Course Keeping Based On Nonlinear Feedback And Decoration,
2018
World Maritime University
An Improved Control Algorithm For Ship Course Keeping Based On Nonlinear Feedback And Decoration, Xiaxiao Yao
Maritime Safety & Environment Management Dissertations (Dalian)
No abstract provided.
Research On Safety Management Of Maritime Autonomous Surface Ships,
2018
World Maritime University
Research On Safety Management Of Maritime Autonomous Surface Ships, Kangqun Chen
Maritime Safety & Environment Management Dissertations (Dalian)
No abstract provided.
Quadrotor Swarm Arena (Quasar) Development Of A Swarm Control Testbed,
2018
Embry-Riddle Aeronautical University
Quadrotor Swarm Arena (Quasar) Development Of A Swarm Control Testbed, Shane T. Stebler, William Mackunis
Beyond: Undergraduate Research Journal
Swarm control systems are increasingly popular in the robotics industry and academia due to their many potential applications. The goal of the Quadrotor Swarm Arena (QuaSAr) project is to construct a quadrotor swarm control testbed to provide researchers with the tools needed to experimentally investigate this emerging science. This testbed is equipped with a motion capture system, test control station, and numerous quadrotor UAVs. MATLAB-Simulink is utilized for control law development, data processing, and test control. This configuration allows researchers to test developing control law in a 'plug and play' manner as control development and test control are all completed …
Economic Model Predictive Control Design Via Nonlinear Model Identification,
2018
University of Study of L’Aquila
Economic Model Predictive Control Design Via Nonlinear Model Identification, Laura Giuliani, Helen Durand
Chemical Engineering and Materials Science Faculty Research Publications
Increasing pushes toward next-generation/smart manufacturing motivate the development of economic model predictive control (EMPC) designs which can be practically deployed. For EMPC, the constraints, objective function, and accuracy of the state predictions would benefit from process models that describe the process physics. However, obtaining first- principles models of chemical process systems can be time-consuming or challenging such that it is preferable to develop physics-based process models automatically from process operating data. In this work, we take initial steps in this direction by suggesting that because experiments that are used to characterize first-principles models often target specific types of data, an …
State Measurement Spoofing Prevention Through Model Predictive Control Design,
2018
Wayne State University
State Measurement Spoofing Prevention Through Model Predictive Control Design, Helen Durand
Chemical Engineering and Materials Science Faculty Research Publications
Security of chemical process control systems against cyberattacks is critical due to the potential for injuries and loss of life when chemical process systems fail. A potential means by which process control systems may be attacked is through the manipulation of the measurements received by the controller. One approach for addressing this is to design controllers that make manipulating the measurements received by the controller in any meaningful fashion very difficult, making the controllers a less attractive target for a cyberattack of this type. In this work, we develop a model predictive control (MPC) implementation strategy that incorporates Lyapunov-based stability …
Data-Based Nonlinear Model Identification In Economic Model Predictive Control,
2018
University of Study of L’Aquila
Data-Based Nonlinear Model Identification In Economic Model Predictive Control, Laura Giuliani, Helen Durand
Chemical Engineering and Materials Science Faculty Research Publications
Many chemical/petrochemical processes in industry are not completely modeled from a first-principles perspective because of the complexity of the underlying physico-chemical phenomena and the cost of obtaining more accurate, physically relevant models. System identification methods have been utilized successfully for developing empirical, though not necessarily physical, models for advanced model-based control designs such as model predictive control (MPC) for decades. However, a fairly recent development in MPC is economic model predictive control (EMPC), which is an MPC formulated with an economics-based objective function that may operate a process in a dynamic (i.e., off steady-state) fashion, in which case the details …
Decentralized Optimal Control With Application In Power System,
2018
Louisiana State University and Agricultural and Mechanical College
Decentralized Optimal Control With Application In Power System, Boyu Wang
LSU Doctoral Dissertations
An output-feedback decentralized optimal controller is proposed for power systems with renewable energy penetration. Renewable energy source is modeled similar to the classical generator model and is equipped with the unified power flow controller (UPFC). The transient performance of power system is considered and stability of the dynamical states are investigated. An offline decentralized optimal controller is designed that utilizes only the local states. The network comprises conventional synchronous generators as well as renewable sources with inverter equipped with UPFC. Subsequently, the optimal decentralized controller is compared to the initial stabilizing controller used to obtain the optimal controller. An online …
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles,
2018
Air Force Institute of Technology
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles, Robert C. Leishman, Jeremy Gray, John F. Raquet, Adam Rutkowski
Faculty Publications
Investigating alternative navigation approaches for use when GPS signals are unavailable is an active area of research across the globe. In this paper we focus on the navigation of small, fixed-wing unmanned aerial vehicles (UAVs) that employ vision-based approaches combined with other measurements as a replacement for GPS. We demonstrate with flight test data that vehicle attitude information, derived from cheap, MEMS-based IMUs is sufficient to improve two different types of vision processing algorithms. Secondly, we show analytically and with flight test data that range measurements to one other vehicle with global pose is sufficient to constrain the global drift …
Modelling Transport Of Nitrogen Compounds In Geita Wetland Along Mtakuja River,
2018
Department of Water Resources Engineering, University of Dar es Salaam
Modelling Transport Of Nitrogen Compounds In Geita Wetland Along Mtakuja River, Ezrael Masawe
Tanzania Journal of Engineering and Technology (TJET)
The impacts of excessive nitrogen loading to streams in a watershed occur in the receiving waters such as rivers at the outlet of the watershed. To quantify the impacts of land use and management practices on the nitrogen loading at the watershed outlet, simulation models are needed that can both predict the nitrogen loading at the edge of individual fields and predict the fate of nitrogen as it moves through the river network to the watershed outlet. This paper presents the results of a model analysis for describing the processes governing transformations and transport of nitrogen compounds (NO3-N and NH4-N) …
The Fate Of Nitrogen And Faecal Coliform In The Lubigi Wetland In Uganda,
2018
Department of Water Resources Engineering, University of Dar es Salaam
The Fate Of Nitrogen And Faecal Coliform In The Lubigi Wetland In Uganda, Aloyce Mayo
Tanzania Journal of Engineering and Technology (TJET)
The capacity of the Lubigi wetland to reduce nitrogen and faecal coliform pollution entering Lake Kyoga in Uganda was investigated. Three transects with 5 sampling points in each, were established in the wetland. Wetland plants samples were collected from the specific locations along the transects, and laboratory tests and analyses were carried out for plants biomass and nitrogen contents determination. Samples of wetland sediments were also collected, and laboratory tests and analyses were done for determination of nitrogen content in the sediments. Wetland water samples were taken from the main wetland inlet and the main outlet from the wetland main …
Low Voltage Ride Through Enhancement For Wind Turbines Equipped With Dfig Under Symmetrical Grid Faults,
2018
Department of Electrical Engineering, University of Dar es Salaam, Dar es Salaam
Low Voltage Ride Through Enhancement For Wind Turbines Equipped With Dfig Under Symmetrical Grid Faults, Francis Mwasilu
Tanzania Journal of Engineering and Technology (TJET)
In modern power systems with significant penetration of wind-turbines (WTs), improvement of low voltage ride through (LVRT) capability of WTs equipped with doubly-fed induction generators (DFIGs) is an important issue. Thus, this paper proposes a low voltage ride through (LVRT) strategy, which comprise of a capacitor connected in series with an inductor both connected in parallel to a resistor. The configuration is then connected to a small series resistor via a pair of antiparallel-Thyristors. The circuit and its switching control scheme of the proposed LVRT circuit are designed to: minimize the transition times, maintain the RSC connection to the rotor-windings, …
Brushless Direct Current Motor Control For Inspired Flight,
2018
California Polytechnic State University, San Luis Obispo
Brushless Direct Current Motor Control For Inspired Flight, Aidan James Mccoy
Computer Science and Software Engineering
Brushless direct current motors have become a very common part of many modern electronics. Although they are more expensive and less robust than conventional brushed direct current motors, they provide large advantages in control, power output, longevity as well as efficiency. To make these motors run, they need more than just power. Each motor needs a separate motor controller that is responsible for taking in a signal for what speed/torque to run the motor at, and then managing the current flow to the motor to keep it spinning while fitting within these boundaries. Brushless direct current motors have a set …
