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Articles 1 - 22 of 22
Full-Text Articles in Engineering
Effects Of Electromagnetic Interference On Control Area Network Performance, Fei Ren, Y. Rosa Zheng, Maciej Jan Zawodniok, Jagannathan Sarangapani
Effects Of Electromagnetic Interference On Control Area Network Performance, Fei Ren, Y. Rosa Zheng, Maciej Jan Zawodniok, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, the effects of electromagnetic interference (EMI) on control area network (CAN) communications are investigated by hardware experiments. Distinct CAN bit rates, communication cables, and networks are used to test effects of EMI on CAN bus. Waveforms of CAN data frames in EMI environment are observed and analyzed for figuring out details of effects. Experiments show that the EMI pulses frequently encountered in automobile and off-road machinery can cause the reduction of bit rates and errors in high-speed CAN communications. Replacing traditional unshielded parallel communication cables with shielded communication cables is proved to be an effective method of …
Predictive Congestion Control Protocol For Wireless Sensor Networks, Maciej Jan Zawodniok, Jagannathan Sarangapani
Predictive Congestion Control Protocol For Wireless Sensor Networks, Maciej Jan Zawodniok, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
Available congestion control schemes, for example transport control protocol (TCP), when applied to wireless networks, result in a large number of packet drops, unfair scenarios and low throughputs with a significant amount of wasted energy due to retransmissions. To fully utilize the hop by hop feedback information, this paper presents a novel, decentralized, predictive congestion control (DPCC) for wireless sensor networks (WSN). The DPCC consists of an adaptive flow and adaptive back-off interval selection schemes that work in concert with energy efficient, distributed power control (DPC). The DPCC detects the onset of congestion using queue utilization and the embedded channel …
Comparisons Of An Adaptive Neural Network Based Controller And An Optimized Conventional Power System Stabilizer, Wenxin Liu, Ganesh K. Venayagamoorthy, Jagannathan Sarangapani, Donald C. Wunsch, Mariesa Crow, Li Liu, David A. Cartes
Comparisons Of An Adaptive Neural Network Based Controller And An Optimized Conventional Power System Stabilizer, Wenxin Liu, Ganesh K. Venayagamoorthy, Jagannathan Sarangapani, Donald C. Wunsch, Mariesa Crow, Li Liu, David A. Cartes
Electrical and Computer Engineering Faculty Research & Creative Works
Power system stabilizers are widely used to damp out the low frequency oscillations in power systems. In power system control literature, there is a lack of stability analysis for proposed controller designs. This paper proposes a Neural Network (NN) based stabilizing controller design based on a sixth order single machine infinite bus power system model. The NN is used to compensate the complex nonlinear dynamics of power system. To speed up the learning process, an adaptive signal is introduced to the NN's weights updating rule. The NN can be directly used online without offline training process. Magnitude constraint of the …
Neural Network Based Decentralized Controls Of Large Scale Power Systems, Wenxin Liu, Jagannathan Sarangapani, Ganesh K. Venayagamoorthy, Donald C. Wunsch, Mariesa Crow, Li Liu, David A. Cartes
Neural Network Based Decentralized Controls Of Large Scale Power Systems, Wenxin Liu, Jagannathan Sarangapani, Ganesh K. Venayagamoorthy, Donald C. Wunsch, Mariesa Crow, Li Liu, David A. Cartes
Electrical and Computer Engineering Faculty Research & Creative Works
This paper presents a suite of neural network (NN) based decentralized controller designs for large scale power systems' generators, one is for the excitation control and the other is for the steam valve control. Though the control inputs are calculated using local signals, the transient and overall system stability can be guaranteed. NNs are used to approximate the unknown and/or imprecise dynamics of the local power system dynamics and the inter-connection terms, thus the requirements for exact system parameters are relaxed. Simulation studies with a three-machine power system demonstrate the effectiveness of the proposed controller designs.
Energy-Efficient Hybrid Key Management Protocol For Wireless Sensor Networks, Timothy J. Landstra, Maciej Jan Zawodniok, Jagannathan Sarangapani
Energy-Efficient Hybrid Key Management Protocol For Wireless Sensor Networks, Timothy J. Landstra, Maciej Jan Zawodniok, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, we propose a subnetwork key management strategy in which the heterogeneous security requirements of a wireless sensor network are considered to provide differing levels of security with minimum communication overhead. Additionally, it allows the dynamic creation of high security subnetworks within the wireless sensor network and provides subnetworks with a mechanism for dynamically creating a secure key using a novel and dynamic group key management protocol. The proposed energy-efficient protocol utilizes a combination of pre-deployed group keys and initial trustworthiness of nodes to create a level of trust between neighbors in the network. This trust is later …
Control Of Nonholonomic Mobile Robot Formations Using Neural Networks, Jagannathan Sarangapani, Travis Alan Dierks
Control Of Nonholonomic Mobile Robot Formations Using Neural Networks, Jagannathan Sarangapani, Travis Alan Dierks
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper the control of formations of multiple nonholonomic mobile robots is attempted by integrating a kinematic controller with a neural network (NN) computed-torque controller. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. The NN is introduced to approximate the dynamics of the follower as well as its leader using online weight tuning. It is shown using Lyapunov theory that the errors for the entire formation are uniformly ultimately bounded, and numerical results are provided.
Blueprint For Iteratively Hardening Power Grids Employing Unified Power Flow Controllers, William M. Siever, Ann K. Miller, Daniel R. Tauritz
Blueprint For Iteratively Hardening Power Grids Employing Unified Power Flow Controllers, William M. Siever, Ann K. Miller, Daniel R. Tauritz
Electrical and Computer Engineering Faculty Research & Creative Works
A stable electricity supply is vital for modern society. However, many parts of our power transmission grid are operating near their operational limits. Such stressed systems are vulnerable to cascading failures, where a few small faults can induce a cascade of failures potentially leading to a major blackout The unified power flow controller (UPFC), the most powerful highspeed, semi-conductor based power flow device, can be used as a theoretical model to study how these devices can be used to improve power grid resilience. The blueprint presented here can be used to iteratively identify critical weaknesses in power grids and to …
Reliability Modeling For The Advanced Electric Power Grid, Ayman Z. Faza, Sahra Sedigh, Bruce M. Mcmillin
Reliability Modeling For The Advanced Electric Power Grid, Ayman Z. Faza, Sahra Sedigh, Bruce M. Mcmillin
Electrical and Computer Engineering Faculty Research & Creative Works
The advanced electric power grid promises a self-healing infrastructure using distributed, coordinated, power electronics control. One promising power electronics device, the Flexible AC Transmission System (FACTS), can modify power flow locally within a grid. Embedded computers within the FACTS devices, along with the links connecting them, form a communication and control network that can dynamically change the power grid to achieve higher dependability. The goal is to reroute power in the event of transmission line failure. Such a system, over a widespread area, is a cyber-physical system. The overall reliability of the grid is a function of the respective reliabilities …
Online Reinforcement Learning-Based Neural Network Controller Design For Affine Nonlinear Discrete-Time Systems, Qinmin Yang, Jagannathan Sarangapani
Online Reinforcement Learning-Based Neural Network Controller Design For Affine Nonlinear Discrete-Time Systems, Qinmin Yang, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, a novel reinforcement learning neural network (NN)-based controller, referred to adaptive critic controller, is proposed for general multi-input and multi- output affine unknown nonlinear discrete-time systems in the presence of bounded disturbances. Adaptive critic designs consist of two entities, an action network that produces optimal solution and a critic that evaluates the performance of the action network. The critic is termed adaptive as it adapts itself to output the optimal cost-to-go function and the action network is adapted simultaneously based on the information from the critic. In our online learning method, one NN is designated as the …
Reinforcement Learning Based Output-Feedback Control Of Nonlinear Nonstrict Feedback Discrete-Time Systems With Application To Engines, Peter Shih, Jonathan B. Vance, Brian C. Kaul, Jagannathan Sarangapani, J. A. Drallmeier
Reinforcement Learning Based Output-Feedback Control Of Nonlinear Nonstrict Feedback Discrete-Time Systems With Application To Engines, Peter Shih, Jonathan B. Vance, Brian C. Kaul, Jagannathan Sarangapani, J. A. Drallmeier
Electrical and Computer Engineering Faculty Research & Creative Works
A novel reinforcement-learning based output-adaptive neural network (NN) controller, also referred as the adaptive-critic NN controller, is developed to track a desired trajectory for a class of complex nonlinear discrete-time systems in the presence of bounded and unknown disturbances. The controller includes an observer for estimating states and the outputs, critic, and two action NNs for generating virtual, and actual control inputs. The critic approximates certain strategic utility function and the action NNs are used to minimize both the strategic utility function and their outputs. All NN weights adapt online towards minimization of a performance index, utilizing gradient-descent based rule. …
An Online Approximator-Based Fault Detection Framework For Nonlinear Discrete-Time Systems, Balaje T. Thumati, Jagannathan Sarangapani
An Online Approximator-Based Fault Detection Framework For Nonlinear Discrete-Time Systems, Balaje T. Thumati, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, a fault detection scheme is developed for nonlinear discrete time systems. The changes in the system dynamics due to incipient failures are modeled as a nonlinear function of state and input variables while the time profile of the failures is assumed to be exponentially developing. The fault is detected by monitoring the system and is approximated by using online approximators. A stable adaptation law in discrete-time is developed in order to characterize the faults. The robustness of the diagnosis scheme is shown by extensive mathematical analysis and simulation results.
Near Optimal Output-Feedback Control Of Nonlinear Discrete-Time Systems In Nonstrict Feedback Form With Application To Engines, Peter Shih, Brian C. Kaul, Jagannathan Sarangapani, J. A. Drallmeier
Near Optimal Output-Feedback Control Of Nonlinear Discrete-Time Systems In Nonstrict Feedback Form With Application To Engines, Peter Shih, Brian C. Kaul, Jagannathan Sarangapani, J. A. Drallmeier
Electrical and Computer Engineering Faculty Research & Creative Works
A novel reinforcement-learning based output-adaptive neural network (NN) controller, also referred as the adaptive-critic NN controller, is developed to track a desired trajectory for a class of complex nonlinear discrete-time systems in the presence of bounded and unknown disturbances. The controller includes an observer for estimating states and the outputs, critic, and two action NNs for generating virtual, and actual control inputs. The critic approximates certain strategic utility function and the action NNs are used to minimize both the strategic utility function and their outputs. All NN weights adapt online towards minimization of a performance index, utilizing gradient-descent based rule. …
Two Neural Network Based Decentralized Controller Designs For Large Scale Power Systems, Wenxin Liu, Jagannathan Sarangapani, Ganesh K. Venayagamoorthy, Donald C. Wunsch, Mariesa Crow, David A. Cartes
Two Neural Network Based Decentralized Controller Designs For Large Scale Power Systems, Wenxin Liu, Jagannathan Sarangapani, Ganesh K. Venayagamoorthy, Donald C. Wunsch, Mariesa Crow, David A. Cartes
Electrical and Computer Engineering Faculty Research & Creative Works
This paper presents two neural network (NN) based decentralized controller designs for large scale power systems' generators, one is for the excitation control and the other is for the steam valve control. Though the control signals are calculated using local signals only, the transient and overall system stabilities can be guaranteed. NNs are used to approximate the unknown and/or imprecise dynamics of the local power system and the interconnection terms, thus the requirements for exact system parameters are released. Simulation studies with a three machine power system demonstrate the effectiveness of the proposed controller designs.
Spatial Diversity In Signal Strength Based Wlan Location Determination Systems, Anil Ramachandran, Jagannathan Sarangapani
Spatial Diversity In Signal Strength Based Wlan Location Determination Systems, Anil Ramachandran, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
Literature indicates that spatial diversity can be utilized to compensate channel uncertainties such as multipath fading. Therefore, in this paper, spatial diversity is exploited for locating stationary and mobile objects in the indoor environment. First, space diversity technique is introduced for small scale motion and temporal variation compensation of received signal strength and it is demonstrated analytically that it enhances location accuracy. Small scale motion refers to movements of the transmitter and/or the receiver of the order of sub-wavelengths while temporal effects refer to environmental variations with time. A novel metric is introduced for selection combining in order to improve …
Online Reinforcement Learning Neural Network Controller Design For Nanomanipulation, Qinmin Yang, Jagannathan Sarangapani
Online Reinforcement Learning Neural Network Controller Design For Nanomanipulation, Qinmin Yang, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, a novel reinforcement learning neural network (NN)-based controller, referred to adaptive critic controller, is proposed for affine nonlinear discrete-time systems with applications to nanomanipulation. In the online NN reinforcement learning method, one NN is designated as the critic NN, which approximates the long-term cost function by assuming that the states of the nonlinear systems is available for measurement. An action NN is employed to derive an optimal control signal to track a desired system trajectory while minimizing the cost function. Online updating weight tuning schemes for these two NNs are also derived. By using the Lyapunov approach, …
Control Of Nonholonomic Mobile Robot Formations: Backstepping Kinematics Into Dynamics, Jagannathan Sarangapani, Travis Alan Dierks
Control Of Nonholonomic Mobile Robot Formations: Backstepping Kinematics Into Dynamics, Jagannathan Sarangapani, Travis Alan Dierks
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, we seek to expand framework developed to control a single nonholonomic mobile robot to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. The asymptotic stability of the entire formation is guaranteed using Lyapunov theory, and numerical results are provided The kinematic controller is developed around control strategies for single mobile robots and the idea of virtual leaders. The virtual leader is replaced with …
Adaptive Power Control Protocol With Hardware Implementation For Wireless Sensor And Rfid Reader Networks, Kainan Cha, Jagannathan Sarangapani, David Pommerenke
Adaptive Power Control Protocol With Hardware Implementation For Wireless Sensor And Rfid Reader Networks, Kainan Cha, Jagannathan Sarangapani, David Pommerenke
Electrical and Computer Engineering Faculty Research & Creative Works
The development and deployment of radio frequency identification (RFID) systems render a novel distributed sensor network which enhances visibility into manufacturing processes. In RFID systems, the detection range and read rates will suffer from interference among high-power reading devices. This problem grows severely and degrades system performance in dense RFID networks. Consequently, medium access protocols (MAC) protocols are needed for such networks to assess and provide access to the channel so that tags can be read accurately. In this paper, we investigate a suite of feasible power control schemes to ensure overall coverage area of the system while maintaining a …
Neural Network Control Of Robot Formations Using Rise Feedback, Jagannathan Sarangapani, Travis Alan Dierks
Neural Network Control Of Robot Formations Using Rise Feedback, Jagannathan Sarangapani, Travis Alan Dierks
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, a combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers that are widely reported in the literature. A neural network (NN) is introduced along with robust integral of the sign of the error (RISE) feedback to approximate the dynamics of the follower as well as its leader using online weight tuning. It is shown using Lyapunov theory that the errors for the entire formation are asymptotically stable and the NN weights are bounded as opposed …
Online Reinforcement Learning Control Of Unknown Nonaffine Nonlinear Discrete Time Systems, Qinmin Yang, Jagannathan Sarangapani
Online Reinforcement Learning Control Of Unknown Nonaffine Nonlinear Discrete Time Systems, Qinmin Yang, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, a novel neural network (NN) based online reinforcement learning controller is designed for nonaffine nonlinear discrete-time systems with bounded disturbances. The nonaffine systems are represented by nonlinear auto regressive moving average with exogenous input (NARMAX) model with unknown nonlinear functions. An equivalent affine-like representation for the tracking error dynamics is developed first from the original nonaffine system. Subsequently, a reinforcement learning-based neural network (NN) controller is proposed for the affine-like nonlinear error dynamic system. The control scheme consists of two NNs. One NN is designated as the critic, which approximates a predefined long-term cost function, whereas an …
Reinforcement Learning Neural-Network-Based Controller For Nonlinear Discrete-Time Systems With Input Constraints, Pingan He, Jagannathan Sarangapani
Reinforcement Learning Neural-Network-Based Controller For Nonlinear Discrete-Time Systems With Input Constraints, Pingan He, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
A novel adaptive-critic-based neural network (NN) controller in discrete time is designed to deliver a desired tracking performance for a class of nonlinear systems in the presence of actuator constraints. The constraints of the actuator are treated in the controller design as the saturation nonlinearity. The adaptive critic NN controller architecture based on state feedback includes two NNs: the critic NN is used to approximate the "strategic" utility function, whereas the action NN is employed to minimize both the strategic utility function and the unknown nonlinear dynamic estimation errors. The critic and action NN weight updates are derived by minimizing …
Route Aware Predictive Congestion Control Protocol For Wireless Sensor Networks, Carl Larsen, Maciej Jan Zawodniok, Jagannathan Sarangapani
Route Aware Predictive Congestion Control Protocol For Wireless Sensor Networks, Carl Larsen, Maciej Jan Zawodniok, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
Congestion in wireless sensor networks (WSN) may lead to packet losses or delayed delivery of important information rendering the WSN-based monitoring or control system useless. In this paper a routing-aware predictive congestion control (RPCC) yet decentralized scheme for WSN is presented that uses a combination of a hop by hop congestion control mechanism to maintain desired level of buffer occupancy, and a dynamic routing scheme that works in concert with the congestion control mechanism to forward the packets through less congested nodes. The proposed adaptive approach restricts the incoming traffic thus preventing buffer overflow while maintaining the rate through an …
Neural Network Controller Development And Implementation For Spark Ignition Engines With High Egr Levels, Jonathan B. Vance, Atmika Singh, Brian C. Kaul, Jagannathan Sarangapani, J. A. Drallmeier
Neural Network Controller Development And Implementation For Spark Ignition Engines With High Egr Levels, Jonathan B. Vance, Atmika Singh, Brian C. Kaul, Jagannathan Sarangapani, J. A. Drallmeier
Electrical and Computer Engineering Faculty Research & Creative Works
Past research has shown substantial reductions in the oxides of nitrogen (NOx) concentrations by using 10% -25% exhaust gas recirculation (EGR) in spark ignition (SI) engines (see Dudek and Sain, 1989). However, under high EGR levels, the engine exhibits strong cyclic dispersion in heat release which may lead to instability and unsatisfactory performance preventing commercial engines to operate with high EGR levels. A neural network (NN)-based output feedback controller is developed to reduce cyclic variation in the heat release under high levels of EGR even when the engine dynamics are unknown by using fuel as the control input. A separate …