Electrical and Computer Engineering Commons^™

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, 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, 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, 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, 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, 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, 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) …

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, …

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 …

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 …

Towards Autonomous Localization Of An Underwater Drone, Nathan Sfard

Master's Theses

Autonomous vehicle navigation is a complex and challenging task. Land and aerial vehicles often use highly accurate GPS sensors to localize themselves in their environments. These sensors are ineffective in underwater environments due to signal attenuation. Autonomous underwater vehicles utilize one or more of the following approaches for successful localization and navigation: inertial/dead-reckoning, acoustic signals, and geophysical data. This thesis examines autonomous localization in a simulated environment for an OpenROV Underwater Drone using a Kalman Filter. This filter performs state estimation for a dead reckoning system exhibiting an additive error in location measurements. We evaluate the accuracy of this Kalman …

Artificial Neural Network-Based Robotic Control, Justin Ng

Master's Theses

Artificial neural networks (ANNs) are highly-capable alternatives to traditional problem solving schemes due to their ability to solve non-linear systems with a nonalgorithmic approach. The applications of ANNs range from process control to pattern recognition and, with increasing importance, robotics. This paper demonstrates continuous control of a robot using the deep deterministic policy gradients (DDPG) algorithm, an actor-critic reinforcement learning strategy, originally conceived by Google DeepMind. After training, the robot performs controlled locomotion within an enclosed area. The paper also details the robot design process and explores the challenges of implementation in a real-time system.

Microgrid Protection Student Laboratory: Human-Machine Interface And Scada Database, Nathan P. Martinez

Electrical Engineering

The electric utility system, a ubiquitous and fundamental component of modern life, has changed more in the last 20 years than the last 100. With more homes and businesses installing distributed energy resources (DERs) such as solar panels, battery storage, and other intermittent sources, massive changes need to take place in the electric transmission and distribution systems. Engineers must develop a new skill set for a modern utility industry. This project summarizes a component for a new laboratory class aimed at power engineering students at Cal Poly which supports the laboratory through the creation of a human-machine interface (HMI) and …

Dynamics Simulation And Optimal Control Of A Multiple-Input And Multiple-Output Balancing Cube, Felix K. Haimerl

Master's Theses

This thesis document outlines the development of a multibody dynamics simulation of an actively stabilized multiple-input, multiple-output, coupled, balancing cube and the process of verifying the results by implementing the control algorithm in hardware. A non-linear simulation of the system was created in Simscape and used to develop a Linear Quadratic Gaussian control algorithm. To implement this algorithm in actual hardware, the system was first designed, manufactured, and assembled. The structure of the cube and the reaction wheels were milled from aluminum. DC brushless motors were installed into the mechanical system. In terms of electronics, a processor, orientation sensor, motor …

Applications Of Complex Network Analysis In Electric Power Systems, Mahmoud Saleh, Yusef Esa, Ahmed Mohamed

Publications and Research

This paper provides a review of the research conducted on complex network analysis (CNA) in electric power systems. Moreover, a new approach is presented to find optimal locations for microgrids (MGs) in electric distribution systems (EDS) utilizing complex network analysis. The optimal placement in this paper points to the location that will result in enhanced grid resilience, reduced power losses and line loading, better voltage stability, and a supply to critical loads during a blackout. The criteria used to point out the optimal placement of the MGs were predicated on the centrality analysis selected from the complex network theory, the …

Design Of A Distributed Real-Time E-Health Cyber Ecosystem With Collective Actions: Diagnosis, Dynamic Queueing, And Decision Making, Yanlin Zhou

Department of Electrical and Computer Engineering: Dissertations, Theses, and Student Research

In this thesis, we develop a framework for E-health Cyber Ecosystems, and look into different involved actors. The three interested parties in the ecosystem including patients, doctors, and healthcare providers are discussed in 3 different phases. In Phase 1, machine-learning based modeling and simulation analysis is performed to remotely predict a patient's risk level of having heart diseases in real time. In Phase 2, an online dynamic queueing model is devised to pair doctors with patients having high risk levels (diagnosed in Phase 1) to confirm the risk, and provide help. In Phase 3, a decision making paradigm is proposed …

Scada And Plc Systems Configuration For The Ncrept Test Facility, Arman Ahmed

Electrical Engineering Undergraduate Honors Theses

This thesis details the project to update the control and interface system of the National Center for Reliable Electric Power Transmission (NCREPT) testing facility. The need for this project arose from the 2017-2018 expansion of the facility, which included some modifications in the layout of electrical equipment used for testing purposes. These modifications necessitated the update of the control and interface system. Additionally, the old system was implemented a decade ago and is nearing obsolescence, so the facility’s expansion served as an opportune time for an upgrade.

There were two main parts to the scope of this project, which were …

Development Of A Digital Rain-Sensing Irrigation Pump Controller And An Android Enabled Bluetooth Paddlewheel Flowmeter, Jayendra Mishra

Graduate Theses and Dissertations

For better irrigation efficiency, it is recommended that farmers track their water consumption to avoid over-irrigating. However, it is difficult to implement this as it is labor intensive to supervise pumps manually and available technologies require high investment. Therefore, a rain sensing pump controller for 3-phase electric irrigation pumps and a stand-alone portable Android enabled paddlewheel flowmeter has been developed to test their feasibility.

The pump timer is a retrofit device for irrigation pump panels. The controller allows an irrigator to start and stop the pump with less supervision. An infrared rain sensor is integrated with the controller to measure …

Challenges In Flexible Microsystem Manufacturing : Fabrication, Robotic Assembly, Control, And Packaging., Danming Wei

Electronic Theses and Dissertations

Microsystems have been investigated with renewed interest for the last three decades because of the emerging development of microelectromechanical system (MEMS) technology and the advancement of nanotechnology. The applications of microrobots and distributed sensors have the potential to revolutionize micro and nano manufacturing and have other important health applications for drug delivery and minimal invasive surgery. A class of microrobots studied in this thesis, such as the Solid Articulated Four Axis Microrobot (sAFAM) are driven by MEMS actuators, transmissions, and end-effectors realized by 3-Dimensional MEMS assembly. Another class of microrobots studied here, like those competing in the annual IEEE Mobile …

Grid-Connected Photovoltaic Systems Based On Nonlinear Control., Pablo R. Rivera

Electronic Theses and Dissertations

Nowadays, due to the high-scale penetration of photovoltaic systems, reliable and efficient grid-connected photovoltaic (PV) systems utilizing the advances of power electronics and control system technology are desirable. Thus, single-stage grid-connected photovoltaic systems, have gained attention, especially in low voltage applications. However, PV systems exhibit nonlinear behavior that could negatively affect the performance of the system if they are not adequately compensated for. In this dissertation, using the general structure for the synchronous dq0 frame, a single-stage three-phase grid-connected photovoltaic system, and a single-stage single-phase grid-connected PV system, both with a nonlinear control strategy, are developed to track the maximum …

Automated Control System Design Manual For Plant Growth And Support, Brooke Benham

Biological and Agricultural Engineering Undergraduate Honors Theses

The “Automated Control System Design Manual for Plant Growth and Support” project contains a teaching manual for high school students and teachers to use to aid in teaching STEM subjects. Building confidence in students and encouraging the pursuit of STEM related fields is one of the primary functions. This project utilizes low cost instruments and freely available software to teach the construction, installation, programming, and application for an automated control system with emphasis on plant growth and regulation. The end result is a fully automated system that can be controlled wirelessly via an android application to monitor temperature, humidity, and …

Application Of Modular Multilevel Converters (Mmc) Using Phase-Shifted Pwm And Selective Harmonic Elimination In Distribution Systems, Thouhidul Islam

Graduate Theses and Dissertations

Reducing the size and weight of a power electric system is a prodigious challenge to researchers as the development of the latest technologies emerge in the field of electrical engineering. A similar urge is there to develop a light-weight mobile power substation (MPS) to use in the electric power distribution systems during emergency conditions. This thesis proposes a power electronics based solution using the modular multilevel converter (MMC) topology to design the MPS system. The market-available power semiconductor devices are analyzed and suitable devices are selected to design the system. The phase-shifted pulse width modulation (PS-PWM) and selective harmonic elimination …

Controllability And Observability Of The Discrete Fractional Linear State-Space Model, Duc M. Nguyen

Masters Theses & Specialist Projects

This thesis aims to investigate the controllability and observability of the discrete fractional linear time-invariant state-space model. First, we will establish key concepts and properties which are the tools necessary for our task. In the third chapter, we will discuss the discrete state-space model and set up the criteria for these two properties. Then, in the fourth chapter, we will attempt to apply these criteria to the discrete fractional model. The general flow of our objectives is as follows: we start with the first-order linear difference equation, move on to the discrete system, then the fractional difference equation, and finally …

Near-Optimal Control Of Switched Systems With Continuous-Time Dynamics Using Approximate Dynamic Programming, Tohid Sardarmehni

Mechanical Engineering Research Theses and Dissertations

Optimal control is a control method which provides inputs that minimize a performance index subject to state or input constraints [58]. The existing solutions for finding the exact optimal control solution such as Pontryagin’s minimum principle and dynamic programming suffer from curse of dimensionality in high order dynamical systems. One remedy for this problem is finding near optimal solution instead of the exact optimal solution to avoid curse of dimensionality [31]. A method for finding the approximate optimal solution is through Approximate Dynamic Programming (ADP) methods which are discussed in the subsequent chapters.

In this dissertation, optimal switching in switched …

Variable Speed Simulation For Accelerated Industrial Control System Cyber Training, Luke M. Bradford

Theses and Dissertations

It is important for industrial control system operators to receive quality training to defend against cyber attacks. Hands-on training exercises with real-world control systems allow operators to learn various defensive techniques and see the real-world impact of changes made to a control system. Cyber attacks and operator actions can have unforeseen effects that take a significant amount of time to manifest and potentially cause physical harm to the system, making high-fidelity training exercises time-consuming and costly. This thesis presents a method for accelerating training exercises by simulating and predicting the effects of a cyber event on a partially-simulated control system. …

Securing Critical Infrastructure: A Ransomware Study, Blaine M. Jeffries

Theses and Dissertations

This thesis reviews traditional ransomware attack trends in order to present a taxonomy for ransomware targeting industrial control systems. After reviewing a critical infrastructure ransomware attack methodology, a corresponding response and recovery plan is described. The plan emphasizes security through redundancy, specifically the incorporation of standby programmable logic controllers. This thesis goes on to describe a set of experiments conducted to test the viability of defending against a specialized ransomware attack with a redundant controller network. Results support that specific redundancy schemes are effective in recovering from a successful attack. Further experimentation is conducted to test the feasibility of industrial …

Defender-Assisted Evasion And Pursuit Maneuvers, Roger S. Anderson

Theses and Dissertations

Motivated by the possibilities afforded by active target defense, a 3-agent pursuit-evasion differential game involving an Attacker/Pursuer, a Target/Evader, and a Defender is considered. The Defender strives to assist the Target by intercepting the Attacker before the latter reaches the Target. A barrier surface in a reduced state space separates the winning regions of the Attacker and Target-Defender team. In this thesis, attention focuses primarily on the Attacker's region of win where, under optimal Attacker play, the Defender cannot preclude the Attacker from capturing the Target. Both optimal and suboptimal strategies are investigated. This thesis uses several methods to breakdown …

Estimation Of 3d Orientation From Inertial Sensors With Different/Nonuniform Sampling, Soulaimane Berkane

Western Research Forum

No abstract provided.

Development And Testing Of 3d Printed Prostheses, Orthoses, And Assistive Devices For Children And Adults, Walker Arce

UNO Student Research and Creative Activity Fair

User controllable interfaces for exoskeletons have consisted of either switch controlled interfaces, for ‘on’ or ‘off’, or elastic powered schemes that allow the user’s wrist flexion to provide the resistance for their therapy. This project aims to develop a hands-free mode of control for the exoskeleton, that uses more advanced electronic components to achieve a more natural user interface. Our approach to this project is the prototyping of a control system that uses the MyoBand Gesture Control Armband (MyoBand), and a simple Arduino based electronic design. The three modes of operation possible for this design is measuring the electrical signals …

From A Locally Competitive Algorithm To Sensory Relevance Models, Walter Woods

Electrical and Computer Engineering PhD Day

This poster addresses the development of a new Machine Learning (ML) mechanism, the Sensory Relevance Model (SRM), as a means of splitting information processing tasks into two sub-tasks with more intuitive properties. Specifically, SRMs are a front-end for other ML techniques, re-mapping the input data to a similar space with significantly more sparsity, achieved through the transformation and suppression of inputs irrelevant to the task. Prior work has attempted to reveal this information for Neural Networks (NNs) either as a post-processing step via saliency maps or through a simple masking of the input achieved with a dot product (so-called ``attention'' …