Controls and Control Theory Commons^™

A Prototype Microwave Cavity Control Circuit For Use In Next Generation Free Electron Laser, Josh Thompson, Peter Neal Barrina, Jiayi Jiang, Joe Frisch, Steve Smith, Daniel Van Winkle

STAR Program Research Presentations

One of the current programs at SLAC National Accelerator Laboratory is the Linac Coherent Light Source, or LCLS. Using the existing hardware of the last third of their linear accelerator (or “linac”), SLAC has created one of the most energetic X-ray free electron lasers (or “FEL”). Since 2009, LCLS has used this FEL to perform a wide range of experiments across all sciences, most notably ultrafast filming at the molecular scale. As requests for beam-time with this laser increases, SLAC is purposing a linac upgrade to better match this demand. This upgrade, named LCLS-II, will replace existing copper radio frequency …

Combined Traction And Energy Recovery Motor For Electric Vehicles, James Long, Xin Wang, Claude Kansaku, Brian Moravec

TREC Final Reports

Electric vehicle manufacturers are looking for ways to optimize energy use for vehicle range extension and reduction of battery capacity. Electric motors have lower efficiencies at very low speed and high torque. This is typically at vehicle launch from standstill, at very low speeds, and during energy regeneration at lower speeds and approaching standstill. The KersTech solution is a breakthrough technology allowing supplement of the electric drive with a hydraulic drive, active in lower speeds ranges, dropping out as the electric motor takes over in its higher efficiency range of operation. The report consists of four parts. Part I presents …

Active Appearance Model Algorithm With K-Nearest Neighbor Classifier For Face Pose Estimation, Bing-Fei Wu, Chih-Chung Kao, Cheng-Lung Jen, Chia-Rong Chiang, Po-Hung Lai

Journal of Marine Science and Technology–Taiwan

In this paper, a face pose estimation (FPE) algorithm using active appearance model (AAM) with a k-nearest neighbor (kNN) classifier is presented. AAM is a model-based image representation method used to describe non-rigid visual objects, with both shape and texture variations, using a mean vector and linear combinations of a set of variation modes. Since AAM is a deformable model, it has several variations. Owing to the variations, the model is adjusted to the input test face image using iterative searching and fitting. The error, which measures the difference between the model and a test image, is minimized with the …

Design Of A Chart-Based Radar Simulator Augmented With A Multi-Agent Ship Traffic Simulation Platform, Shwu-Jing Chang, Yu-Ting Lai, Chun-Mai Hsu

Journal of Marine Science and Technology–Taiwan

This paper presents a radar simulation system developed under a request to deliver a radar and an Electronic Chart Display and Information System (ECDIS) for the navigation bridge of a ship maneuvering simulator. It is designed to dynamically generate radar image based on the electronic navigational chart database and sensor information to provide flexibility in navigation area for exercise and maintain consistency with other sensors or systems of the bridge, especially the ECDIS. Since the successful delivery of our study, the radar simulation system has been augmented with a Multi-Agent Ship Traffic (MAST) simulation platform and evolved into a versatile …

Linear State Feedback Design For Surge Control Of Axial Flow Compressor Dynamics, Der-Cherng Liaw, Yun-Hua Huang, Wen-Ching Chung

Journal of Marine Science and Technology–Taiwan

Based on Moore and Greitzer’s model [15], the surge behavior of axial flow compression system was found to be attributed to the appearance of Andronov-Hopf bifurcationin [12]. In this paper, we focus on the design of control law to prevent and/or delay the occurrence of the bifurcations, which will then suppress the surge behavior. Both types of linear dynamic state feedback and linear washout filter controllers are proposed. The proposed washout design does not require the explicit knowledge of the operating point and keep the original equilibrium characteristic while the dynamic feedback design will change the equilibrium operating points for …

Dynamic Output Feedback Sliding Mode Controller Design For Chattering Avoidance, Jeang-Lin Chang, Jui-Che Tsai

Journal of Marine Science and Technology–Taiwan

For a class of linear MIMO uncertain systems, a dynamic output feedback sliding mode control algorithm that avoids the chattering problem and high gain control is proposed in this paper. Without using any differentiator, we develop a modified asymptotically stable second order sliding mode control law in which the developed controller can guarantee the finite time convergence to the sliding mode and the system states asymptotically approach to zero. Finally, a numerical example is explained for demonstrating the applicability of the proposed scheme.

Development Of A Strapdown Inertial Navigation System Simulation Platform, Dah-Jing Jwo, Jyun-Han Shih, Chia-Sheng Hsu, Kai-Lun Yu

Journal of Marine Science and Technology–Taiwan

This paper presents a strapdown inertial navigation system (SINS) simulation platform. The numerical simulator solves the navigation equations in navigation frame where the quaternion vector is employed for attitude calculation. The measured quantities (angular body rates and specific force) are generated by the numerical simulator. The results are also confirmed with the navigation solutions given by a commercial inertial navigation system toolbox using the generated body angular rates and specific force of the SINS. The paper can provide the readers with further information for developing their own SINS simulation tools.

Wavelet Support Vector Machine For Face Recognition, Chen-Chia Chuang, Ping-Lun Liao, Jin-Tsong Jeng

Journal of Marine Science and Technology–Taiwan

In this paper a tool system with wavelet support vector machine (WSVM) under dimension reduction for face recognition is proposed. Eigenfaces and fisherfaces are the major methods used to reduce the dimension of face images in the proposed face recognition tool system. At the same time, noise interference image cases, namely Gaussian noise, with no ears and no eyes are also considered in this paper. Finally, the implementation of proposed system is based on objectoriented design software; the dimension reduction and wavelet kernel support vector machine are applied to the proposed tool system that can deal with face recognition problems …

Mimo Transmission In Spatially Correlated Fading, Joy Iong-Zon Chen, Chi-Tsung Huang, Yu-Hsing Chien

Journal of Marine Science and Technology–Taiwan

A multiple-input, multiple-output (MIMO) system transmission over a channel characterized by spatially correlated fading is addressed in this article. Two scenarios that involved using well-known statistical fading distributions, correlatedRician and correlated-Nakagami-m fading, were deployed in analysis. The moment-generating function obtained using a stochastic process was applied to determine the ergodic, or average, channel capacity, thus by passing the difficulty traditionally associated with calculating the probability density function of the signal-to-noise ratio. The results of several numerical and Monte-Carlo comparisons are offered for validating the accuracy of the theoretically derived formulae. Furthermore, many plots were designed by combining different numbers of …

Global Localization Using Dead-Reckoning And Kinect Sensors For Robots With Omnidirectional Mecanum Wheels, Ching-Chih Tsai, Feng-Chun Tai, Yu-Cheng Wang

Journal of Marine Science and Technology–Taiwan

This paper presents a low-cost global pose localization method using least-squares method and extended Kalman filter (EKF) for an anthropomorphous dual-arm mobile robot (ADAMR) driven by omnidirectional Mecanum wheels in indoor environments. This method is developed by fusing measurements from the KINECT sensor and four encoders mounted on the omnidirectional Mecanum wheels. The KINECT sensor is used to recognize landmarks in the working environments of the robot, and then obtain the azimuth angles and distances between these landmarks and the robot. Based on these measured information, a static global pose initialization algorithm using least-squares method is applied to estimate both …

A Particle Swarm Optimization-Like Algorithm For Constrained Minimal Spanning Tree Problems, Chun-Chao Yeh, Ying-Che Chien

Journal of Marine Science and Technology–Taiwan

Previous studies have discussed various constrained minimal spanning tree (MST) problems. In this paper, we propose an efficient algorithm for solving a class of constrained MST problems. The proposed PSO (Particle Swarm Optimization)- like strategy for solving constrained MST problems identifies optimal MSTs under degree and delay constraints. The solution quality and computation time of the proposed PLCMST (PSO-Like algorithm for Constrained MST problems) algorithm is compared with two other algorithms: one based on ant colony optimization, and the other based on a genetic algorithm strategy. Our experimental results show that the PLCMST outperforms the other two approaches, particularly when …

A Wheeled Mobile Robot Path-Tracking System Based On Image Processing And Adaptive Cmac, Jih-Gau Juang, Ko-Jui Hsu, Chih-Min Lin

Journal of Marine Science and Technology–Taiwan

This study entailed applying image-processing techniques and an intelligent control method to a wheeled mobile robot (WMR) for real-time trajectory recognition and tracking. The WMR was fitted with a charge-coupled device (CCD) camera to capture images of the environment, and the hue-saturationintensity color space was used to classify the color features of the captured images. The WMR calculates the relative position of a target object by using image-processing and edgedetection algorithms. This paper proposes a cerebellar model articulation controller (CMAC) and adaptive CMAC to replace conventional proportional-integral-derivative (PID) controller for guiding the WMR to track a desired path. Moreover, using …

The Development Of A Cost-Effective And Optimized Dp-Spiv System For Fluid Turbulence Researches, Yu-Chi Chang, Yi-Hung Chang, Yaw-Huei Lee, Yi-Chih Chow

Journal of Marine Science and Technology–Taiwan

Turbulent flows and issues of turbulence modeling have long been intriguing and important in fluid researches and practices. The mean or instantaneous velocity gradient tensors with six independent components, or other tensorial variables involving gradients, play a key role in turbulence dynamics and models. The advancement of the knowledge of these parameters relies on measurement systems built on sophisticated flow diagnostic techniques that enable both detailed and complete measurements. However, such systems seem inevitably complicated to operate and costly to build and maintain. Therefore, we develop and optimize a dual-plane stereoscopic particle image velocimetry (DP-SPIV) system that is much more …

Numerical Modeling Of Wave-Induced Rotations Of A Bottom-Hinged Flapper With A Sph Model, Da-Wei Chen, Shiaw-Yih Tzang, Chih-Min Hsieh, Yi-Chih Chow, Jiahn-Horng Chen, Chen-Chou Lin, Robert Rong-Jiann Hwang

Journal of Marine Science and Technology–Taiwan

In this study, a Smoothed Particle Hydrodynamics model for simulating wave-induced rotations of a bottom-hinged flapper was established in a 2-D numerical wave flume. The simulated rotating angles illustrated that the flapper could swing back and forth following harmonic wave loadings. The simulations were also seen to be in good agreement with experimental data, confirming the applicability of the present numerical model. The simulated hydrodynamic behaviors at different phases showed that the flapper moved downstream under the wave crest and upstream under the wave trough following the elliptical form of water particle trajectory. The energy conversions of a flapper during …

Application Of Adaptive Variable Speed Back-Stepping Sliding Mode Controller For Pmlsm Position Control, Mei-Yung Chen, Jian-Shiun Lu

Journal of Marine Science and Technology–Taiwan

In this research, an adaptive variable speed back-stepping sliding mode controller (AVSBSMC) is proposed to control the permanent magnet linear synchronous motor (PMLSM) on high-precision positioning servo system platform. This controller combines the dynamic features of variable speed control (VSC) and the positioning characteristics of adaptive back-stepping sliding mode control (ABSMC). Firstly, the detailed dynamic machine model of PMLSM is established. Secondly, the proportional-integral-derivative (PID) and ABSMC controllers are proposed to compensate the uncertainties in position control. Then, the one provides the better servo performances is the position controller in the motor system. Thirdly, the variable speed controller (VSC) and …

Real Time Swim Instructor, Konrad Antoniuk

Electrical Engineering

Both competitive and recreational swimmers want an efficient swim stroke but often lack consistent feedback with technical insight. Competitive swimmers rely on coaches for instruction but have to stop swimming to listen. The Real Time Swim Instructor project provides live feedback to a swimmer so they can feel their stroke correction while they’re swimming. The developing swimmer feels the difference between correct and incorrect form instantaneously.

The project takes on the responsibility of measuring the moving body, accurately determining stroke improvement, functioning under water, and providing recognizable feedback. Additionally, the user can review their swim from data stored in memory. …

Automated Foosball Table, Jim R. Stefani, Alex J. Herpy, Brett Gordon Jaeger, Kevin S. Haydon, Derek Alan Hamel

Mechanical Engineering

This project is the second iteration of an automated foosball table for Yaskawa America as a trade show display. The table is meant to provide an interactive experience which highlights the speed and precision of the Yaskawa hardware. The first iteration of the project was mainly focused on creating the physical hardware for the system and to begin the basic programming for the system. This phase of the project was focused on finalizing the physical hardware of the system, implementing the vision system and to continue the basic programing of the system AI. A third team will be assigned to …

Variable Precision Tandem Analog-To-Digital Converter (Adc), Colton A. Parsons

Master's Theses

This paper describes an analog-to-digital signal converter which varies its precision as a function of input slew rate (maximum signal rate of change), in order to best follow the input in real time. It uses Flash and Successive Approximation (SAR) conversion techniques in sequence.

As part of the design, the concept of "total real-time optimization" is explored, where any delay at all is treated as an error (Error = Delay * Signal Slew Rate). This error metric is proposed for use in digital control systems. The ADC uses a 4-bit Flash converter in tandem with SAR logic that has variable …

Automated Pet Food Dispenser, Kevin M. Shibley

Electrical Engineering

Electronics revolutionize the world and simplify life. The Automated Pet Food Dispenser (APFD) revolutionizes the pet industry and provides unprecedented food capacity and delivery capability, giving pet owners worry-free vacationing. Sensors and timers optimize functionality and reduce waste while improving reliability and usability. User-defined settings and customization gives the device adaptability to meet every customer’s needs.

Non-Linear Electromechanical System Dynamics, Shathiyakkumar Ganapathy Annadurai

LSU New Orleans Theses and Dissertations

Electromechanical systems dynamics analysis is approached through nonlinear differential equations and further creating a state space model for the system. There are three modules analyzed and validated, first module consists two magnet coupled with a mass spring damper system as a band-pass system, Low-pass equivalent system and Low-pass equivalent system through perturbation analysis. Initially Band Pass frameworks for the systems are formulated considering the relation between the mechanical forcing and current. Using Mathematical tools such as Hilbert transforms, Low-Pass equivalent of the systems are derived. The state equations of the systems are then used to design a working model in …