Engineering Commons^™

Model Predictive Power Management Of A Hybrid Electric Propulsion System For Aircraft, Tyler J. Wall

Masters Theses

This work presents the switched optimal power flow control for an aircraft with a hybrid electric propulsion system. The propulsion system is a switched system that operates in either of two modes: (i) battery discharging and electric motor propelling and (ii) battery charging and electric motor generating. The aircraft model and components that form the hybrid propulsion system are modeled as either an algebraic power source/sink or as a dynamic model with appropriate power and state interconnections. With the system model defined, a model predictive control power management strategy is set fourth which minimizes a performance index that includes altitude …

Hardware Based Testing Of Communication Based Control For Dc Microgrid, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed

Publications and Research

This paper further describes our work presented in Industry Application Society 2016 Conference, with more details related to the control and operation of the microgrid. The DC microgrid facility was custom designed and implemented at CCNY with minimal off-the-shelf components to enable flexibility and reconfiguration capability. The design steps, requirements, and experimental results of the developed testbed were discussed. As a case study, a central controller for energy management algorithm was developed and tested under several operational scenarios. The experimental results verify the applicability of the developed testbed for validating DC microgrid controllers.

Cyber-Physical System Characterization And Co-Regulation Of A Quadrotor Uas, Seth E. Doebbeling

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

An Unmanned Aircraft System (UAS) is a Cyber-Physical System (CPS) in which a host of real-time computational tasks contending for shared resources must be cooperatively managed to obtain mission objectives. Traditionally, control of the UAS is designed assuming a fixed, high sampling rate in order to maintain reliable performance and margins of stability. But emerging methods challenge this design by dynamically allocating resources to computational tasks, thereby affecting control and mission performance. To apply these emerging strategies, a characterization and understanding of the effects of timing on control and trajectory following performance is required. Going beyond traditional control evaluation techniques, …

Prototype Vehicles Laboratory Steering Apparatus, Zachary W. Sharpell, Jorge Lopez, Colby R. Genasci

Mechanical Engineering

The Cal Poly Prototype Vehicles Team (PROVE) is designing a solar powered vehicle to break an international land speed record. The space within the driver’s cockpit allotted for the steering mechanism was too small for a conventional steering wheel. This report describes the process that was followed to design, manufacture, and test a compact and lightweight steering apparatus for the PROVE solar vehicle. A lateral lever steering system, the final design selected for PROVE’s solar car, was designed to withstand the maximum expected loads applied by the driver during the three-minute run of the competition. The lateral lever steering apparatus …

Vision-Based Control Of A Full-Size Car By Lane Detection, N. Chase Kunz

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Self-driving cars are an area of increasing investment for researchers and auto manufacturers. Integration has already begun for such vehicles in urban environments. An essential aspect of navigation in these areas is the ability to sense and follow lane markers. This thesis focuses on the development of a self-driving, full-size, electric car which uses only a camera and lane markers to stay on the road. A complete method for automation is shown for a stock vehicle. Discussion includes reverse engineering of the steering, braking, and acceleration signals, as well as methods for lane detection and full-vehicle control.

Applications Of Relative Motion Models Using Curvilinear Coordinate Frames, Alex C. Perez

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

A new angles-only initial relative orbit determination (IROD) algorithm is derived using three line-of-sight observations. This algorithm accomplishes this by taking a Singular Value Decomposition of a 6x6 matrix to arrive at an approximate initial relative orbit determination solution. This involves the approximate solution of 6 polynomial equations in 6 unknowns. An iterative improvement algorithm is also derived that provides the exact solution, to numerical precision, of the 6 polynomial equations in 6 unknowns. The initial relative orbit algorithm is also expanded for more than three line-of-sight observations with an iterative improvement algorithm for more than three line-of-sight observations. The …

Applications Of Krylov Subspace And Balanced Truncation Model Order Reduction In Power Systems, Sebastian Emanuel Garrido

Graduate Theses and Dissertations

Dynamic representations of power systems usually result in the order of hundreds or even thousands of buses. Therefore, reduction of these dynamic representations is convenient. Two applications of model order reduction in power systems are discussed in this thesis. First, Krylov subspace-based method is applied to the IEEE-123 Node Test Feeder in the context of distribution-level power systems simulation. Second, a Balanced Truncation-based model reduction is implemented in the 3-Machine 9-Bus system for designing a power system controller in the context of generation- and transmission-level power systems.

First, for the IEEE-123 Node Test Feeder, a two-sided Arnoldi algorithm is proposed …

Autonomous Highway Systems Safety And Security, Imran Sajjad

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This thesis aims to address question of safety and security in autonomous highway systems. Chains of multiple self-driving vehicles (platoons) give rise to inherent vulnerabilities to attacks resulting from their control algorithms. These weaknesses can possibly result in collisions or decreased traffic flow.

This work first provides an overview of these vulnerabilities analyzed from a control systems perspective. The capabilities and extent of damage that an attack can cause are analyzed. Then some possible mitigation strategies are presented that can defend against these attacks.

Simulation results are provided to support the effectiveness of these controllers and an experimental validation is …

Dynamic Model And Control Of Quadrotor In The Presence Of Uncertainties, Courage Agho

Theses and Dissertations

This thesis considers the control of quadrotor using a linear PID control and ℒ1 adaptive control. In a justifiable concept, PID controller can be used to control a quadrotor, but in the presence of uncertainties or disturbance, the quadrotor can’t be automatically adjusted to control the changing dynamics of the quadrotor. To solve the problem associated with uncertainties, various control methodology can be used for controlling the changing dynamic of quadrotor, but in this thesis, ℒ1 adaptive control is used because it allows for fast and robust adaptation for desired transient performance in the presence of matched and unmatched uncertainties. …

A Hybrid State/Event Driven Communication-Based Control For Dc Microgrids, Yusef Esa

Dissertations and Theses

The U.S. electric power industry is undergoing unprecedented changes triggered by the growing electricity demand, and the national efforts to reduce greenhouse gas emissions. Moreover, there is a call for increased power grid resiliency, survivability and self-healing capabilities. As a result of these challenges, the smart grid concept emerged. One of the main pillars of the smart grid is microgrids. In this thesis, the technical merits of clustering multiple microgrids during blackouts on the overall stability and supply availability have been investigated.

We propose to use the existing underground distribution grid infrastructure, if applicable, during blackouts to form microgrid clusters. …

Optimal Control Based Stiffness Identification Of An Ankle-Foot Orthosis Using A Predictive Walking Model, Manish Sreenivasa, Matthew Millard, Martin Felis, Katja Mombaur, Sebastian I. Wolf

Faculty of Engineering and Information Sciences - Papers: Part B

Predicting the movements, ground reaction forces and neuromuscular activity during gait can be a valuable asset to the clinical rehabilitation community, both to understand pathology, as well as to plan effective intervention. In this work we use an optimal control method to generate predictive simulations of pathological gait in the sagittal plane. We construct a patient-specific model corresponding to a 7-year old child with gait abnormalities and identify the optimal spring characteristics of an ankle-foot orthosis that minimizes muscle effort. Our simulations include the computation of foot-ground reaction forces, as well as the neuromuscular dynamics using computationally efficient muscle torque …

Investigation Of Extremum Seeking Control For Adaptive Exercise Machines, Brahm T. Powell

ETD Archive

Many muscle rehabilitation regimens are non-adaptive and recommended subjectively by physicians. While there are advantages to having the feedback of a qualified physician, utilizing real-time muscle performance feedback could be beneficial. An extremum seeking control design is proposed to fulfill the need for an automated, load-varying exercise machine that can optimize muscle performance.

Several steps are outlined to contribute to the realization of this goal. First, the extremum seeking control scheme is discussed. Second, the Hill muscle model will be described. Theoretical muscle effort extrema will be derived for selected optimization cases, namely maximizing average squared power by varying load …

Hybrid Model Predictive Control Of A Residential Hvac System With On-Site Thermal Energy Generation And Storage, Massimo Fiorentini, Josh Wall, Zhenjun Ma, Julio H. Braslavsky, Paul Cooper

Faculty of Engineering and Information Sciences - Papers: Part A

This paper describes the development, implementation and experimental investigation of a Hybrid Model Predictive Control (HMPC) strategy to control solar-assisted heating, ventilation and air-conditioning (HVAC) systems with on-site thermal energy generation and storage. A comprehensive approach to the thermal energy management of a residential building is presented to optimise the scheduling of the available thermal energy resources to meet a comfort objective. The system has a hybrid nature with both continuous variables and discrete, logic-driven operating modes. The proposed control strategy is organized in two hierarchical levels. At the high-level, an HMPC controller with a 24-h prediction horizon and a …

Gas Reservoir And Emission Modelling To Evaluate Gas Drainage To Control Tailgate Gas Concentrations And Fugitive Emissions, Dennis J. Black

Faculty of Engineering and Information Sciences - Papers: Part B

The process of longwall coal extraction coal causes fractures in the overlying and underlying strata and these fractures become pathways for gas released from adjacent coal seams to flow into the mine workings and contaminate the ventilation air. If the rate of gas emission exceeds the diluting capacity of the ventilation air, the gas concentration will increase and exceed the statutory limit resulting in production delays.All potential gas sources within the planned mining area, including coal seams located above and below the working seam, should be identified and sufficient gas data collected and used to determine the specific gas emission …

Ventilative Cooling Through Automated Window Opening Control Systems To Address Thermal Discomfort Risk During The Summer Period: Framework, Simulation And Parametric Analysis, Theofanis Psomas, Massimo Fiorentini, Georgios Kokogiannakis, Per K. Heiselberg

Faculty of Engineering and Information Sciences - Papers: Part B

Automated window opening control systems with integrated ventilative cooling strategies may significantly diminish the thermal discomfort and overheating risk of dwellings during cooling periods in temperate climates. One of the challenges with demonstrating the benefits of the systems is the lack of building performance simulation (BPS) tools which may represent precisely how actual algorithms are applied.

The study supported herein aims to present a framework of how to simulate an advanced ventilative cooling algorithm of a window system on coupled BPS environments (ESP-r and BCVTB tools). Parametric analysis has been conducted to verify specific operational functions of the system. The …

Review On Design And Control Aspects Of Robotic Shoulder Rehabilitation Orthoses, Aibek Niyetkaliyev, Shahid Hussain, Mergen Hmcgill University, Ghayesh, Gursel Alici

Faculty of Engineering and Information Sciences - Papers: Part B

Robotic rehabilitation devices are more frequently used for the physical therapy of people with upper limb weakness, which is the most common type of stroke-induced disability. Rehabilitation robots can provide customized, prolonged, intensive, and repetitive training sessions for patients with neurological impairments. In most cases, the robotic exoskeletons have to be aligned with the human joints and provide natural arm movements. This is a challenging task to achieve for one of the most biomechanically complex joints of human body, i.e., the shoulder. Therefore, specific considerations have been made in the development of various existing robotic shoulder rehabilitation orthoses. Different types …

Predicting The Motions And Forces Of Wearable Robotic Systems Using Optimal Control, Matthew Millard, Manish Sreenivasa, Katja Mombaur

Faculty of Engineering and Information Sciences - Papers: Part B

Wearable robotic systems are being developed to prevent injury to the low back. Designing a wearable robotic system is challenging because it is difficult to predict how the exoskeleton will affect the movement of the wearer. To aid the design of exoskeletons, we formulate and numerically solve an optimal control problem (OCP) to predict the movements and forces of a person as they lift a 15 kg box from the ground both without (human-only OCP) and with (with-exo OCP) the aid of an exoskeleton. We model the human body as a sagittal-plane multibody system that is actuated by agonist and …

Optimizing Wearable Assistive Devices With Neuromuscular Models And Optimal Control, Manish Sreenivasa, Matthew Millard, Paul Manns, Katja Mombaur

Faculty of Engineering and Information Sciences - Papers: Part B

The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the possibility to study and improve this interaction. In addition, optimal control can also be used to generate predictive simulations that generate novel movements for the human model under varying optimization criterion.

Modelling And Control Of A Novel Walker Robot For Post-Stroke Gait Rehabilitation, Emre Sariyildiz, Hsiao-Ju Cheng, Gokhan M. Yagli, Haoyong Yu

Faculty of Engineering and Information Sciences - Papers: Part B

In this paper, a novel walker robot is proposed for post-stroke gait rehabilitation. It consists of an omni-directional mobile platform which provides high mobility in horizontal motion, a linear motor that moves in vertical direction to support the body weight of a patient and a 6-axis force/torque sensor to measure interaction force/torque between the robot and patient. The proposed novel walker robot improves the mobility of pelvis so it can provide more natural gait patterns in rehabilitation. This paper analytically derives the kinematic and dynamic models of the novel walker robot. Simulation results are given to validate the proposed kinematic …

Observer-Based Load Frequency Control For Island Microgrid With Photovoltaic Power, Chaoxu Mu, Weiqiang Liu, Wei Xu, Md Rabiul Islam

Faculty of Engineering and Information Sciences - Papers: Part B

As renewable energy is widely integrated into the power system, the stochastic and intermittent power generation from renewable energy may cause system frequency deviating from the prescribed level, especially for a microgrid. In this paper, the load frequency control (LFC) of an island microgrid with photovoltaic (PV) power and electric vehicles (EVs) is investigated, where the EVs can be treated as distributed energy storages. Considering the disturbances from load change and PV power, an observer-based integral sliding mode (OISM) controller is designed to regulate the frequency back to the prescribed value, where the neural network observer is used to online …

Performance Comparison Of The Notable Acceleration- And Angle-Based Guidance Laws For A Short-Range Air-To-Surface Missile, Bülent Özkan, Mustafa Kemal Özgören, Gökmen Mahmutyazicioğlu

Turkish Journal of Electrical Engineering and Computer Sciences

Short-range air-to-surface missiles have become globally popular in the last two decades. As a performance driver, the type of guidance law gains importance. In this study, proportional navigation, velocity pursuit, and augmented proportional navigation guidance laws, whose resulting guidance commands take the form of lateral acceleration, are applied to a short-range air-to-surface missile against both stationary and maneuvering ground targets. Body pursuit and linear homing guidance laws, which yield angular commands, are additionally applied. Having completed the relevant computer simulations, we conclude that none of the acceleration- and angle-based guidance laws are absolutely superior to the others.

Electromagnetic Signal Feedback Control For Proximity Detection Systems, Adam K. Smith

Dissertations, Master's Theses and Master's Reports

Coal is the most abundant fossil fuel in the United States and remains an essential source of energy. While more than half of coal production comes from surface mining, nearly twice as many workers are employed by underground operations.

One of the key pieces of equipment used in underground coal mining is the continuous mining machine. These large and powerful machines are operated in confined spaces by remote control. Since 1984, 40 mine workers in the U. S. have been killed when struck or pinned by a continuous mining machine. It is estimated that a majority of these accidents could …

Simulation Of Human Ankle Trajectory During Stance Phase Of Gait, Leslie Castelino

Dissertations, Master's Theses and Master's Reports

A simulation was developed which mimics the human gait characteristics based on the input of an individual’s gait trajectory. This simulation also estimates the impedance of the human ankle based on the ground reaction forces measured by the force plate. This simulation will accept alterations of the following parameters: total body weight, weight of the shank, weight of the foot, trajectories of the shank and foot of the individual and orientation of the force plate, which would generate a new gait trajectory for the ankle during the stance phase of gait. The goal of this simulation was to validate the …