Electrical and Computer Engineering Commons^™

Quadrotor Uav Flight Control With Integrated Mapping And Path Planning Capabilities, Jason A. Gauthier

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Quadrotor UAVs have become a common and easily acquirable hardware platform for research and development with control laws, mapping systems, and path planning. In this research, a non-linear model of a quadrotor UAV is linearized with model parameters being identified using collected flight data. The PID, LQR, and backstepping control laws are implemented. An adaptive control law is also implemented to handle the loss of effectiveness in motor actuation. Additionally, this research also implements a laser-based SLAM algorithm for mapping and localization in an unknown two-dimensional environment. Path planning and obstacle avoidance algorithms are implemented onboard using the Robot Operating …

Design And Simulation Of Boost Dc - Dc Pulse Width Modulator (Pwm) Feed-Forward Control Converter, Calenia L. Franklin

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Military aircraft systems’ power losses are occurring during the loading operations; loading and unloading causes the aircraft systems to lose power. The primary aircraft power source is provided by a 400Hz Ground Power Units (GPU). This GPU provides power to interior lighting, the aircraft cargo compartment, and other electrical systems (i.e. bus). The issues are during loading and unloading on the aircraft, which causes dropout of aircraft power supplied by the external 400Hz GPU. The majority of the military aircraft require a high voltage and a high current with a 270V power output. This thesis analyzes using Feed-Forward PWM Boost …

Analytical Approach To Multi-Objective Joint Inference Control For Fixed Wing Unmanned Aerial Vehicles, Julian L. Casey

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Fixed-wing Unmanned Aerial Vehicles (UAVs) have been found highly useful in various environments, including military and law enforcement. With the increased use of fixed-wing UAVs, there becomes an increased need to optimize the resources available. One approach to resource management is to create multi-objective flights. This thesis presents the design, analysis, and experimental implementation of multi-objective resource management for the resource of Range, distance available to the UAV, from the viewpoint of Intelligence Surveillance and Reconnaissance (ISR). First, a Simulation Environment is created capable of tracking multiple fixed-wing UAVs and to allow for the UAVs’ being controlled by an externally …

Online Clustering With Bayesian Nonparametrics, Matthew D. Scherreik

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Clustering algorithms, such as Gaussian mixture models and K-means, often require the number of clusters to be specified a priori. Bayesian nonparametric (BNP) methods avoid this problem by specifying a prior distribution over the cluster assignments that allows the number of clusters to be inferred from the data. This can be especially useful for online clustering tasks, where data arrives in a continuous stream and the number of clusters may dynamically change over time. Classical BNP priors often overestimate the number of clusters, however, leading researchers to develop new priors with more control over this tendency. To date, BNP algorithms …

Mitigating Atmospheric Phase Errors In Sal Data, Randy S. Depoy Jr.

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Synthetic aperture ladar (SAL) is an emerging remote sensing technology capable of providing high-resolution, interpretable, and timely imagery. SAL and synthetic aperture radar (SAR) are similar in that they provide high-resolution imagery suitable for a wide-variety of applications beyond the diffraction limit of the real aperture. Several advantages of SAL are; realistic imagery resulting from diffuse scattering of optically-rough objects, fine directionality of laser beam making the technology inherently low probability-of-detect, and shorter synthetic aperture collection times, all of which result from operating at optical as opposed to RF wavelengths. With the dramatic decrease in wavelength, SAL systems become more …

A Low-Area, Energy-Efficient 64-Bit Reconfigurable Carry Select Modified Tree-Based Adder For Media Signal Processing, Priscilla Sharon Allwin

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Multimedia systems play an essential part in our daily lives and have drastically improved the quality of life over time. Multimedia devices like cellphones, radios, televisions, and computers require low-area and low-power reconfigurable adders to process greedy computation algorithms for the real-time audio/video signal and image processing such as discrete cosine transform, inverse discrete cosine transform, and fast Fourier transform, etc. In this thesis, a novel 64-bit reconfigurable adder is proposed and implemented to reduce the area and power consumption. This adder can be run-time reconfigured to different reconfigurable word lengths, i.e., one 64- bit, two 32-bits, four 16-bits or …

Cmos Receiver Design For 802.11ac Standard Using Offline Calibrated Active Inductor Based Band Pass Filter In 90 Nm Technology, Shuo Li

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Wireless local area network is widely used in industry and people daily life. More and more mobile devices rely on this technology to perform data communication with 2.4 GHz and 5 GHz frequency band. As the development of CMOS technology is able to keep shrinking chip size and increasing circuit integration density, traditional on-chip passive inductor inefficient area consumption issue is becoming critical to receiver front end system design. In this dissertation, an active inductor-based band pass filter is studied and implemented with 90 nm technology. This active inductor design provides very small area consumption and larger quality factor compared …

Multifunctional Oxide Heterostructures For Next-Generation Tunable Rf/Microwave Electronics, Hyung Min Jeon

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Recent advanced radio frequency (RF) microwave device demands for low power consumption, light weight, compact package, and high performance. To achieve the high performance, applying magnetic materials is becoming indispensable in many of those devices. Thus, the role of magnetism in those devices is important high-quality magnetic materials not only improves the performance of microwave devices but also opens opportunities in developing novel concepts of devices utilizing spin wave excitation, non-reciprocal wave propagation, and the electromagnetic coupling in multiferroic materials. Among all the others, manipulating magnetic properties in multiferroic material started a couple years ago. Multiferroic materials are a group …

High Security Cognitive Radio Network Via Instantaneous Channel Information, Kaiyu Huang

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The cognitive radio network has been considered one of the most promising communication technologies for next generation wireless communication. One important aspect of cognitive radio network research is the so-called Primary User Authentication. Naturally, the primary user authentication in the cognitive radio network requires strong encryption. For the primary user identification, this dissertation provides a method which hides the user information in the header of the data frames with an underlay waveform. It is important to note that the underlay waveform will not bring redundancy data to the communication system. Using the synchronizing frequency as the underlay waveform carrier also …

Two Player Zero Sum Multi-Stage Game Analysis Using Coevolutionary Algorithm, Sumedh Sopan Nagrale

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A New Two player zero sum multistage simultaneous Game has been developed from a real-life situation of dispute between two individual. Research identifies a multistage game as a multi-objective optimization problem and solves it using Coevolutionary algorithm which converges to a solution from pareto optimal solution. A comparison is done between individual stage behaviour and multistage behaviour. Further, simulations over a range for Crossover rate, Mutation rate and Number of interaction is done to narrow down the range for a range with optimal computation speed. A relationship has been observed which identifies a relationship between population size, number of interactions, …

10-Bit C2c Dac Design In 65nm Cmos Technology, Jeevani Kommareddy

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Many wired and wireless communication systems require high-speed and high-performance data converters. These data converters act as bridge between digital signal processing blocks and power amplifiers. However, these data converters have been the bottleneck in the communication systems. This thesis presents the design of a 10-bit C2C digital to analog converter (DAC) for high resolution, wide bandwidth and low power consumption applications. The DAC is implemented in CMOS 65nm technology. The SFDR of this C2C DAC is 71.95dB at 500MHz input frequency and consumes 88.14µW of power with ENOB as 11.65 with 1.0GHz sample frequency with 0.31LSB of INL and …

Mixed Signal Detection, Estimation, And Modulation Classification, Yang Qu

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Signal detection, parameter estimation and modulation classification are widely applied to many areas and plays a very important role in civilian and military, such as bio-science, criminal psychology, communication engineering, radar system, electronic warfare and so on. In the civilian field, with the increasing number of wireless electronic devices and higher transmission data rate demand, the problem of spectrum congestion becomes more and more highlighted and urgent. In recent years, wireless industry has shown great interest in Cognitive Radio (CR) and Dynamic Spectrum Access (DSA) network, whose primary function is to use limited frequency bands to transmit own signals without …

Stability Analysis Of Leg Configurations For Bipedal Running, Nitin Jaiswal

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A legged robot with three-segmented limbs is used to study the effects of leg compliance originating from the joint level on the stability of hopping in place and running. The three-segments allow each leg to be kinematically configured an infinite number ways that satisfy the desired landing condition parameters, total leg length and angle. These two parameters along with the amount of energy thrust during stance determine the motion of the system during a single stride. The goal of this work is to explore the potential values for the leg parameters of three-segment leg, that provide additional stability when compared …

Configurable Frequency And Voltage Three Phase Power Supply, Donald Danko

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The student's employer is in need of a three phase power supply which can supply a 400Hz signal at +/- 28V at 2A. The input to the power supply is +24VDC at an unspecified current. The student's solution is a configurable frequency and voltage power supply. The student chose to utilize a full bridge DC to DC converter topology. A microcontroller was used for supplying pulse width modulated waveforms, performing analog to digital conversions, and controlling a digital to analog converter. The circuit was modeled using Matlab and tested after being manufactured to confirm proper functionality. The configurable three phase …

Digital Instantaneous Frequency Measurement Receiver For Fine Frequency And High Sensitivity, Bilal Khudhur Abdulhammed Abdulhamed

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Wideband technology has been applied to many wide bandwidth applications when there is a need to send much different information in a short time from one point and received from another point in high precision and accuracy. A wideband receiver reports a signal without tuning if the signal is within the input bandwidth. The analog Instantaneous Frequency Measurement (IFM) receiver has been used for decades to cover a very wide input bandwidth and report one accurate frequency on a short pulse at a time. The digital IFM use a high sampling rate ADC to operate in a wide bandwidth, Hilbert …

System Identification And Model-Based Control Of Quadcopter Uavs, Andrew P. Szabo

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As control systems become more sophisticated, more accurate system models are needed for control law design and simulation. In this research, a nonlinear dynamic model of a quadcopter UAV is presented and model parameters are estimated off-line using in-flight experimental data. In addition, a model-based classical control law for the quadcopter UAV is designed, simulated, and then deployed in UAV flight tests. The intent of this research is to identify a model which may be simple enough to easily use for control law design, and accurate enough for simulation. In addition, a model-based classical control law is designed to for …

Exploring Two-Dimensional Graphene And Silicene In Digital And Rf Applications, Zhonghang Ji

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Since the discovery of graphene, two-dimensional (2D) materials have attracted intensive interests in the past 15 years and there has been a growing interest in exploring new materials beyond graphene, such as silicene, germanene, etc. Numerous papers have been published to demonstrate their extraordinary electronic, optical, biological, and thermal properties which render broad applications in various fields. However, the absence of band gap in graphene and silicene prohibits their uses in digital applications. This dissertation reviews recent progress on band gap opening based on mono- and bi- layer silicene and presents a new silicon atomic structure which exhibits a 0.17 …

A Graphene/Rf Gas Sensor, Kathleen Louise Brockdorf

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Toxic chemicals have been used as chemical warfare agents since ancient times, but World War 1 saw the beginning of modern chemical proliferation. There are many methods of detecting these agents, but the combination of high sensitivity, specificity, fast response, and small form factor is difficult to achieve. More recently, graphene has been identified as a possible sensing material for ammonia and other substances. This research documents a novel method of using graphene as a chemical sensor, utilizing a radio-frequency approach to sensing. This approach utilizes all available information from the material, such as permittivity and conductivity, instead of simply …

Tapped-Inductor Buck Dc-Dc Converter, Ankit Chadha

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There is a high demand for low step-down dc voltage conversions. Many conventional power converters that are currently being used have a moderate conversion ratio and this may not be sufficient to meet the demand. This can be achieved by either cascading power converters or using converters with a low step-down conversion ratio. Cascading the converters increases the power conversion stage complexity and increase the order of the system, while also affecting the stability. Using converters with a high conversion ratio seems to be a more intelligent option to root. This dissertation tackles to analyze one such converter, called tapped-inductor …

Fault-Tolerant Mapping And Localization For Quadrotor Uav, Maximillian Andrew Gilson

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This research aims to accomplish three main tasks for a quadrotor UAV with mapping and navigation capabilities. Firstly, a Simultaneous Localization and Mapping (SLAM) system is developed utilizing a laser rangefinder an open source SLAM algorithm called GMapping. This system allows for mapping of the surrounding environment as well as localizing the position of the quadrotor, enabling position control. Secondly, several path planning algorithms were implemented and evaluated. This allows the quadrotor to navigate through the environment even in the presence of obstacles. Lastly, to compensate for possible faults in the SLAM measurements, a fault-tolerant control method is developed. Real-time …

Design Of An Ultra-Wideband Microstrip Antenna Array With Low Size, Weight And Power, Paul Staffan

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This study focuses on the use of microstrip antenna technology for designing an ultra-wideband antenna to meet low size, weight and power requirements. Based on the recent literature for such antennas, a quasi-log periodic microstrip antenna array is designed to operate from 8 to 40 GHz (radar bands X, Ku, K and Ka). The array consists of 33 co-linear, inset-fed, square patches on a Roger’s Duroid substrate, and is modeled using the Advanced Design System software from Keysight. The simulated results show the antenna has pass-band gains greater than 5 dB, a half-power beamwidth of 30 degrees, and linear polarization …

Simulation Of A Mos Or Mis Structured Spatial Light Modulator For Terahertz (Thz) Imaging, Md Shahanur Alam

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A large area, square-gate Metal-Oxide/Insulator-Semiconductor (MOS or MIS) structured `Spatial Light Modulator' has been proposed for the Terahertz (THz) imaging at room temperature. This theoretical study has been done entirely by using the MATLAB platform. The 1D Poisson's equation has been solved iteratively by Euler's method with the exact Fermi-Dirac integral for n-doped Si-MOS and GaAs- MIS capacitors in deep accumulation mode. Free carrier density and the potential profile have been found for the degenerate case. The results have been compared with the analytical method, which is approximated by Boltzmann statistics, and clearly, show the difference between the degenerate case …

Real-Time Path Planning And Obstacle Avoidance For Mobile Robots With Actuator Faults, Ravindra Vibha Bellur

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In this research, a fault-tolerant path planning and obstacle avoidance algorithm is implemented for mobile ground robots. The fault-tolerant system architecture consists of the following three components: (1) an online fault diagnosis module for detecting and estimating actuator faults in the mobile robot; (2) a localization and mapping module for dynamic terrain mapping and obstacle detection; (3) a path planning and obstacle avoidance module for generating way points from a given point to the desired destination, avoiding the detected obstacles and moving along these way points. The online fault diagnostic information is used to compensate for the effect of faults, …

Control And Optimization Of Power In Llc Converter Using Phase Control, Nagasri Kollipara

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LLC resonant converters are popular among resonant topologies due to their high efficiency and ability to achieve ZVS and ZCS for wide input range. LLC resonant converters are controlled by frequency modulation (FM), which makes converter difficult to optimize the system in terms of achieving efficient power conversion. FM technique also generate wide range of harmonics which leads to a wide sweep in operating frequency, which can run into regulatory EMI test limits and cause electromagnetic compatibility issues. The performance of LLC topology extends to their poor efficiency at lighter loads, due to constant high magnetization current. In order to …

Examination Of Gain Scheduling And Fuzzy Controllers With Hybrid Reachability, Aaron W. Fifarek

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Modern aircraft with nonlinear flight envelopes predominately utilize gain scheduled controllers to provide stability of flight. Using gain scheduled control techniques, nonlinear envelopes can be linearized into collections of linear systems that operate under various system dynamics. Linear controllers approximate the nonlinear response over setpoints of operating conditions which allow traditional linear theory to be applied to maintain stability. Techniques to prove linear stability are well understood and realized in control systems, but when controllers are switched, interpolation methods must be used. Interpolation is necessary as gain scheduled systems do not have foundational switching paradigms as part of their realization …

Chaotic Based Self-Synchronization For Rf Steganography Radar/Communication Waveform, Michael A. Gonnella

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In this project, we continue previous CSR project entitled RF Steganography based Joint Radar/Communication Waveform Design to develop a bio-inspired secure low probability detection (LPD) radio frequency (RF) waveform that can serve multiple purposes simultaneously. Previously, we have developed an RF steganography based RF waveform to conceal a secure digital communication within a linear frequency modulated (LFM) chirp radar signal. By exploiting novel reduced phase shift keying modulation and variable symbol duration, the new waveform is resistant to time domain analysis, frequency domain analysis and cyclostationary analysis. However, to demodulate the hidden communication message, the intended receiver has to know …

Static Optimization Of Fuel Cell Plug-In Hybrid Electric Vehicle, Sunday Julius Balogun

Graduate Research Theses & Dissertations

This thesis focuses on the static optimization of a fuel cell plug-in hybrid electric vehicle. The vehicle is been powered by three (3) sources of electrical energy. These sources of electrical energy are: fuel cell, supercapacitor, and lithium-ion battery.

The main target of this thesis is to make good the performance of a fuel cell plug-in hybrid electric vehicle. This will be achieved by applying static optimization method on the dynamic equations of a moving hybrid vehicle.

The optimization model of this plug-in hybrid electric vehicle (PHEV) was formulated bases on multiple objectives. The objective parameters are: cost, volume, and …

Feed-Forward Compensation Of Non-Minimum Phase Systems, Venkatesh Dudiki

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Due to inherent limitations posed by existence of zeros of a transfer function in the righthalfof the complex plane, known as non-minimum phase zeros, the issue of dealing withsuch zeros is extremely important in control of linear systems. Considerable literatureexists in control theory to try and minimize or eliminate the effect of non-minimum phasezeros. These include pole-zero cancellation, feedforward compensation, among others.These methods are only limited only to stable systems (systems with poles in the left halfof the complex plane); and will fail for systems that are unstable as well as non-minimumphase.This research focuses in designing feedforward compensators for unstable …

Temperature Robust Longwave Infrared Hyperspectral Change Detection, Nicholas A. Durkee

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In this thesis, we develop and evaluate change detection algorithms for longwave infrared (LWIR) hyperspectral imagery. Because measured radiance in the LWIR domain depends on unknown surface temperature, care must be taken to prevent false alarms resulting from in-scene temperature differences that appear as material changes. We consider fewer variables. Examples using synthetic and measured data quantify the computational complexity of the proposed methods and demonstrate orders of magnitude reduction in false alarm rates relative to existing methods. Four strategies to mitigate this effect. In the first, pre-processing via traditional temperatureemissivity separation yields approximately temperature-invariant emissivity vectors for use in …

Fpga-Based Ir Localization Sensor, Samuel I. Susanto

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Pursuit-evasion scenarios are common in both natural and man-made systems. Often times, the pursuer and evader maneuver in response to each others actions using relative information based on the geometry of the agents and potential obstacles within the environment. The pursuer needs the target's bearing angle in order to plan a trajectory or path to capture it. We propose an FPGA-based infrared sensor array to detect up to 6 agents' bearing angles simultaneously. The final output of the sensor is the bearing angle of other agents. The sensor was tested and validated experimentally. Implementing the sensor and transmitter pair on …