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Articles 1 - 30 of 78
Full-Text Articles in Controls and Control Theory
Fair Fault-Tolerant Approach For Access Point Failures In Networked Control System Greenhouses, Mohammed Ali Yaslam Ba Humaish
Fair Fault-Tolerant Approach For Access Point Failures In Networked Control System Greenhouses, Mohammed Ali Yaslam Ba Humaish
Theses and Dissertations
Greenhouse Networked Control Systems (NCS) are popular applications in modern agriculture due to their ability to monitor and control various environmental factors that can affect crop growth and quality. However, designing and operating a greenhouse in the context of NCS could be challenging due to the need for highly available and cost-efficient systems. This thesis presents a design methodology for greenhouse NCS that addresses these challenges, offering a framework to optimize crop productivity, minimize costs, and improve system availability and reliability. It contributes several innovations to the field of greenhouse NCS design. For example, it recommends using the 2.4GHz frequency …
Development Of An Electromagnetic System For Wireless Magnetic Manipulation Of Soft Capsule Endoscope For Drug Delivery Applications, Nada Ashraf Hussein Mahmoud
Development Of An Electromagnetic System For Wireless Magnetic Manipulation Of Soft Capsule Endoscope For Drug Delivery Applications, Nada Ashraf Hussein Mahmoud
Theses and Dissertations
Wireless capsule endoscopy (WCE) is a remarkable diagnostic device that examines the gastrointestinal (GI) tract. The WCE is a small capsule integrated with a camera that is used to visualize the inner mucosa of the GI tract. WCE has been proven to be the most effective method to diagnose GI diseases and GI cancers. The procedure reduces the discomfort and risk compared to conventional endoscopy methods. However, current WCEs lack the ability to take a biopsy or deliver a drug to a specific location. Those therapeutic functions can be introduced by wirelessly controlled WCEs. This thesis introduces an electromagnetic system …
Improving The Flexibility And Robustness Of Machine Tending Mobile Robots, Richard Ethan Hollingsworth
Improving The Flexibility And Robustness Of Machine Tending Mobile Robots, Richard Ethan Hollingsworth
Theses and Dissertations
While traditional manufacturing production cells consist of a fixed base robot repetitively performing tasks, the Industry 5.0 flexible manufacturing cell (FMC) aims to bring Autonomous Industrial Mobile Manipulators (AIMMs) to the factory floor. Composed of a wheeled base and a robot arm, these collaborative robots (cobots) operate alongside people while autonomously performing tasks at different workstations. AIMMs have been tested in real production systems, but the development of the control algorithms necessary for automating a robot that is a combination of two cobots remains an open challenge before the large scale adoption of this technology occurs in industry. Currently popular …
Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel
Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel
Theses and Dissertations
This thesis presents a learning from demonstration framework that enables a robot to learn and perform creative motions from human demonstrations in real-time. In order to satisfy all of the functional requirements for the framework, the developed technique is comprised of two modular components, which integrate together to provide the desired functionality. The first component, called Dancing from Demonstration (DfD), is a kinesthetic learning from demonstration technique. This technique is capable of playing back newly learned motions in real-time, as well as combining multiple learned motions together in a configurable way, either to reduce trajectory error or to generate entirely …
Smart City Management Using Machine Learning Techniques, Mostafa Zaman
Smart City Management Using Machine Learning Techniques, Mostafa Zaman
Theses and Dissertations
In response to the growing urban population, "smart cities" are designed to improve people's quality of life by implementing cutting-edge technologies. The concept of a "smart city" refers to an effort to enhance a city's residents' economic and environmental well-being via implementing a centralized management system. With the use of sensors and actuators, smart cities can collect massive amounts of data, which can improve people's quality of life and design cities' services. Although smart cities contain vast amounts of data, only a percentage is used due to the noise and variety of the data sources. Information and communication technology (ICT) …
Torque Vectoring To Maximize Straight-Line Efficiency In An All-Electric Vehicle With Independent Rear Motor Control, William Blake Brown
Torque Vectoring To Maximize Straight-Line Efficiency In An All-Electric Vehicle With Independent Rear Motor Control, William Blake Brown
Theses and Dissertations
BEVs are a critical pathway towards achieving energy independence and meeting greenhouse and pollutant gas reduction goals in the current and future transportation sector [1]. Automotive manufacturers are increasingly investing in the refinement of electric vehicles as they are becoming an increasingly popular response to the global need for reduced transportation emissions. Therefore, there is a desire to extract the most fuel economy from a vehicle as possible. Some areas that manufacturers spend much effort on include minimizing the vehicle’s mass, body drag coefficient, and drag within the powertrain. When these values are defined or unchangeable, interest is driven to …
Evaluating Testing Procedures For Openflow Controller Network Re-Provisioning Time, Steven J. Jensen
Evaluating Testing Procedures For Openflow Controller Network Re-Provisioning Time, Steven J. Jensen
Theses and Dissertations
Software-Defined Networking promises several advantages over traditional networking architectures, but has seen little adoption. Recently codified controller evaluation methodologies have seen little validation without strong statistical analysis of the results. The research developed an environment testing implementing a published Network Re-provisioning Time methodology to evaluate five OpenFlow controllers. The methodology is strong with required parameters but had issues with some edge cases. Further refinement and adding a convergence metric may close the gaps.
Optimal Defense Of High Value Airborne Assets, Isaac E. Weintraub
Optimal Defense Of High Value Airborne Assets, Isaac E. Weintraub
Theses and Dissertations
Optimal control theory and differential game theory is applied to the study of the defense of high value airborne assets, particularly in the case of a single threat such as an adversarial aircraft or missile. Rather than utilizing onboard defenses of the high value airborne asset, defense is proposed using a teamed unmanned combat air vehicle. The common scenario throughout this dissertation involves the defense of a high value airborne asset (evader) teamed with an unmanned combat vehicle (defender) against a single threat (pursuer). The unmanned combat air vehicle (defender), provides defense in one of two ways: kinetic or directed …
Using Motion Capture And Augmented Reality To Test Aar With Boom Occlusion, Vincent J. Bownes
Using Motion Capture And Augmented Reality To Test Aar With Boom Occlusion, Vincent J. Bownes
Theses and Dissertations
The operational capability of drones is limited by their inability to perform aerial refueling. This can be overcome by automating the process with a computer vision solution. Previous work has demonstrated the feasibility of automated aerial refueling (AAR) in simulation. To progress this technique to the real world, this thesis conducts experiments using real images of a physical aircraft replica and a motion capture system for truth data. It also compares the error between the real and virtual experiments to validate the fidelity of the simulation. Results indicate that the current technique is effective on real images and that the …
A General Framework For Characterizing And Evaluating Attacker Models For Cps Security Assessment, Christopher S. Deloglos, Christopher Deloglos
A General Framework For Characterizing And Evaluating Attacker Models For Cps Security Assessment, Christopher S. Deloglos, Christopher Deloglos
Theses and Dissertations
Characterizing the attacker’s perspective is essential to assessing the security posture and resilience of cyber-physical systems. The attacker’s perspective is most often achieved by cyber-security experts (e.g., red teams) who critically challenge and analyze the system from an adversarial stance. Unfortunately, the knowledge and experience of cyber-security experts can be inconsistent leading to situations where there are gaps in the security assessment of a given system. Structured security review processes (such as TAM, Mission Aware, STPA-SEC, and STPA-SafeSec) attempt to standardize the review processes to impart consistency across an organization or application domain. However, with most security review processes, the …
Learning-Based Predictive Control Approach For Real-Time Management Of Cyber-Physical Systems, Roja Eini
Learning-Based Predictive Control Approach For Real-Time Management Of Cyber-Physical Systems, Roja Eini
Theses and Dissertations
Cyber-physical systems (CPSs) are composed of heterogeneous, and networked hardware and software components tightly integrated with physical elements [72]. Large-scale CPSs are composed of complex components, subject to uncertainties [89], as though their design and development is a challenging task. Achieving reliability and real-time adaptation to changing environments are some of the challenges involved in large-scale CPSs development [51]. Addressing these challenges requires deep insights into control theory and machine learning. This research presents a learning-based control approach for CPSs management, considering their requirements, specifications, and constraints. Model-based control approaches, such as model predictive control (MPC), are proven to be …
Deep Learning-Based, Passive Fault Tolerant Control Facilitated By A Taxonomy Of Cyber-Attack Effects, Dean C. Wardell
Deep Learning-Based, Passive Fault Tolerant Control Facilitated By A Taxonomy Of Cyber-Attack Effects, Dean C. Wardell
Theses and Dissertations
In the interest of improving the resilience of cyber-physical control systems to better operate in the presence of various cyber-attacks and/or faults, this dissertation presents a novel controller design based on deep-learning networks. This research lays out a controller design that does not rely on fault or cyber-attack detection. Being passive, the controller’s routine operating process is to take in data from the various components of the physical system, holistically assess the state of the physical system using deep-learning networks and decide the subsequent round of commands from the controller. This use of deep-learning methods in passive fault tolerant control …
An Analytic Study Of Pursuit Strategies, Mark E. Vlassakis
An Analytic Study Of Pursuit Strategies, Mark E. Vlassakis
Theses and Dissertations
The Two-on-One pursuit-evasion differential game is revisited where the holonomic players have equal speed, and the two pursuers are endowed with a circular capture range ℓ > 0. Then, the case where the pursuers' capture ranges are unequal, ℓ1 > ℓ2 ≥ 0, is analyzed. In both cases, the state space region where capture is guaranteed is delineated and the optimal feedback strategies are synthesized. Next, pure pursuit is considered whereupon the terminal separation between a pursuer and an equal-speed evader less than the pursuer's capture range ℓ > 0. The case with two pursuers employing pure pursuit is considered, and …
Active Control Of A Morphing Wing Aircraft And Failure Analysis For System Reliability, Madison J. Montgomery
Active Control Of A Morphing Wing Aircraft And Failure Analysis For System Reliability, Madison J. Montgomery
Theses and Dissertations
A morphing wing aircraft has the ability to increase the efficiency of an aircraft by better optimizing lift and drag characteristics during a flight. A morphing wing UAV was designed and constructed by AFRL/RQVS and required a means of control and method of characterizing the performance of the aircraft through flight testing. This research presents the design and construction of a control system capable of adjusting the morphing wing shape based on pilot commands and current flight status. The control system was tested and improved following a flight test crash utilizing failure mode analysis.
Two-On-One Pursuit With A Non-Zero Capture Radius, Patrick J. Wasz
Two-On-One Pursuit With A Non-Zero Capture Radius, Patrick J. Wasz
Theses and Dissertations
In this paper, we revisit the "Two Cutters and Fugitive Ship" differential game that was addressed by Isaacs, but move away from point capture. We consider a two-on-one pursuit-evasion differential game with simple motion and pursuers endowed with circular capture sets of radius l > 0. The regions in the state space where only one pursuer effects the capture and the region in the state space where both pursuers cooperatively and isochronously capture the evader are characterized, thus solving the Game of Kind. Concerning the Game of Degree, the algorithm for the synthesis of the optimal state feedback strategies of the …
Side Channel Anomaly Detection In Industrial Control Systems Using Physical Characteristics Of End Devices, Ryan D. Harris
Side Channel Anomaly Detection In Industrial Control Systems Using Physical Characteristics Of End Devices, Ryan D. Harris
Theses and Dissertations
Industrial Control Systems (ICS) are described by the Department of Homeland Security as systems that are so \vital to the United States that their incapacity or destruction would have a debilitating impact on our physical or economic security." Attacks like Stuxnet show that these systems are vulnerable. The end goal for Stuxnet was to spin centrifuges at a frequency rate outside of normal operation and hide its activity from the ICS operator. This research aims to provide a proof of concept for an anomaly detection system that would be able to detect an attack like Stuxnet by measuring the physical …
Physical Layer Discrimination Of Electronic Control Units Using Wired Signal Distinct Native Attribute (Ws-Dnda), Rahn M. Lassiter
Physical Layer Discrimination Of Electronic Control Units Using Wired Signal Distinct Native Attribute (Ws-Dnda), Rahn M. Lassiter
Theses and Dissertations
The Controller Area Network (CAN) bus is a communication system used in automobiles to connect the electronic components required for critical vehicle operations. These components are called Electronic Control Units (ECU) and each one exercises one or more functions within the vehicle. ECUs can provide autonomous safety features and increased comfort to drivers but these advancements may come at the expense of vehicle security. Researchers have shown that the CAN bus can be hacked by compromising authorized ECUs or by physically connecting unauthorized devices to the bus. Physical layer (PHY) device fingerprinting has emerged as one of the accepted approaches …
Securing Critical Infrastructure: A Ransomware Study, Blaine M. Jeffries
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 …
Variable Speed Simulation For Accelerated Industrial Control System Cyber Training, Luke M. Bradford
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. …
Defender-Assisted Evasion And Pursuit Maneuvers, Roger S. Anderson
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 …
A Framework For Categorization Of Industrial Control System Cyber Training Environments, Evan G. Plumley
A Framework For Categorization Of Industrial Control System Cyber Training Environments, Evan G. Plumley
Theses and Dissertations
First responders and professionals in hazardous occupations undergo training and evaluations for the purpose of mitigating risk and damage. For example, helicopter pilots train with multiple categorized simulations that increase in complexity before flying a real aircraft. However in the industrial control cyber incident response domain, where incident response professionals help detect, respond and recover from cyber incidents, no official categorization of training environments exist. To address this gap, this thesis provides a categorization of industrial control training environments based on realism. Four levels of environments are proposed and mapped to Blooms Taxonomy. This categorization will help organizations determine which …
Omni-Directional Infrared 3d Reconstruction And Tracking Of Human Targets, Emrah Benli
Omni-Directional Infrared 3d Reconstruction And Tracking Of Human Targets, Emrah Benli
Theses and Dissertations
Omni-directional (O-D) infrared (IR) vision is an effective capability for mobile systems in robotics, due to its advantages: illumination invariance, wide field-of-view, ease of identifying heat-emitting objects, and long term tracking without interruption. Unfortunately, O-D IR sensors have low resolution, low frame rates, high cost, sensor noise, and an increase in tracking time. In order to overcome these disadvantages, we propose an autonomous system application in indoor scenarios including 1) Dynamic 3D Reconstruction (D3DR) of the target view in real time images, 2) Human Behavior-based Target Tracking from O-D thermal images, 3) Thermal Multisensor Fusion (TMF), and 4) Visual Perception …
Firmware Counterfeiting And Modification Attacks On Programmable Logic Controllers, Zachary H. Basnight
Firmware Counterfeiting And Modification Attacks On Programmable Logic Controllers, Zachary H. Basnight
Theses and Dissertations
Recent attacks on industrial control systems (ICSs), like the highly publicized Stuxnet malware, have perpetuated a race to the bottom where lower level attacks have a tactical advantage. Programmable logic controller (PLC) firmware, which provides a software-driven interface between system inputs and physically manifested outputs, is readily open to modification at the user level. Current efforts to protect against firmware attacks are hindered by a lack of prerequisite research regarding details of attack development and implementation. In order to obtain a more complete understanding of the threats posed by PLC firmware counterfeiting and the feasibility of such attacks, this research …
Emulation Of Industrial Control Field Device Protocols, Robert M. Jaromin
Emulation Of Industrial Control Field Device Protocols, Robert M. Jaromin
Theses and Dissertations
It has been shown that thousands of industrial control devices are exposed to the Internet, however, the extent and nature of attacks on such devices remains unknown. The first step to understanding security problems that face modern supervisory control and data acquisition (SCADA) and industrial controls networks is to understand the various attacks launched on Internet-connected field devices. This thesis describes the design and implementation of an industrial control emulator on a Gumstix single-board computer as a solution. This emulator acts as a decoy field device, or honeypot, intended to be probed and attacked via an Internet connection. Evaluation techniques …
Creating A Network Model For The Integration Of Dynamic And Static Supervisory Control And Data Acquisition (Scada) Test Environment, Marlon Coerbell
Creating A Network Model For The Integration Of Dynamic And Static Supervisory Control And Data Acquisition (Scada) Test Environment, Marlon Coerbell
Theses and Dissertations
Since 9/11 protecting our critical infrastructure has become a national priority. Presidential Decision Directive 63 mandates and lays a foundation for ensuring all aspects of our nation's critical infrastructure remain secure. Key in this debate is the fact that much of our electrical power grid fails to meet the spirit of this requirement. My research leverages the power afforded by Electric Power and Communication Synchronizing Simulator (EPOCHS) developed with the assistance of Dr. Hopkinson, et al. The power environment is modeled in an electrical simulation environment called PowerWorld©. The network is modeled in OPNET® and populated with self-similar network and …
Architectural Considerations For Single Operator Management Of Multiple Unmanned Aerial Vehicles, Gabriel T. Bugajski
Architectural Considerations For Single Operator Management Of Multiple Unmanned Aerial Vehicles, Gabriel T. Bugajski
Theses and Dissertations
Recently, small Unmanned Aircraft Systems (UAS) have become ubiquitous in military battlefield operations due to their intelligence collection capabilities. However, these unmanned systems consistently demonstrate limitations and shortfalls with respect to size, weight, range, line of sight and information management. The United States Air Force Unmanned Aircraft Systems Flight Plan 2009-2047 describes an action plan for improved UAS employment which calls out single operator, multi-vehicle mission configurations. This thesis analyzes the information architecture using future concepts of operations, such as biologically-inspired flocking mechanisms. The analysis and empirical results present insight into the engineering of single-operator multiple-vehicle architectures.
Multi-Objective Constraint Satisfaction For Mobile Robot Area Defense, Kenneth W. Mayo
Multi-Objective Constraint Satisfaction For Mobile Robot Area Defense, Kenneth W. Mayo
Theses and Dissertations
In developing multi-robot cooperative systems, there are often competing objectives that need to be met. For example in automating area defense systems, multiple robots must work together to explore the entire area, and maintain consistent communications to alert the other agents and ensure trust in the system. This research presents an algorithm that tasks robots to meet the two specific goals of exploration and communication maintenance in an uncoordinated environment reducing the need for a user to pre-balance the objectives. This multi-objective problem is defined as a constraint satisfaction problem solved using the Non-dominated Sorting Genetic Algorithm II (NSGA-II). Both …
Preliminary Electrical Designs For Ctex And Afit Satellite Ground Station, Arthur L. Morse
Preliminary Electrical Designs For Ctex And Afit Satellite Ground Station, Arthur L. Morse
Theses and Dissertations
This thesis outlines the design of the electrical components for the space-based ChromoTomography Experiment (CTEx). CTEx is the next step in the development of high-speed chromotomography at the Air Force Institute of Technology. The electrical design of the system is challenging due to the large amount of data that is acquired by the imager and the limited resources that is inherent with space-based systems. Additional complication to the design is the need to know the angle of a spinning prism that is in the field of view very precisely for each image. Without this precise measurement any scene that is …
Decisive Routing And Admission Control According To Quality Of Service Constraints, Cindy C. Reese
Decisive Routing And Admission Control According To Quality Of Service Constraints, Cindy C. Reese
Theses and Dissertations
This research effort examines, models, and proposes options to enhance command and control for decision makers when applied to the communications network. My goal is to research the viability of combining three students’ past research efforts and expanding and enhancing those efforts. The area of this research is predicting a snapshot of the communications network, context-aware routing between network nodes, and Quality of Service-based routing optimization in order to create an intelligent routing protocol platform. It will consolidate efforts from an Intelligent Agent Based Framework to Maximize Information Utility by Captain John Pecarina, Dialable Cryptography for Wireless Networks by Major …
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Theses and Dissertations
Robots of varying autonomy have been used to take the place of humans in dangerous tasks. While robots are considered more expendable than human beings, they are complex to develop and expensive to replace if lost. Recent technological advances produce small, inexpensive hardware platforms that are powerful enough to match robots from just a few years ago. There are many types of autonomous control architecture that can be used to control these hardware platforms. One in particular, the Unified Behavior Framework, is a flexible, responsive control architecture that is designed to simplify the control system’s design process through behavior module …