Controls and Control Theory Commons^™

Bldc Motor Drives With A Programmable Simplified C-Block To Generate Accurate Six-Step Pwm Based On Stm32 Microcontroller, Muhammad Rizani Rusli, Mentari Putri Jati, Mochamad Ari Bagus Nugroho, Ony Asrarul Qudsi, Indhana Sudiharto, Farid Dwi Murdianto, Endro Wahjono

Elinvo (Electronics, Informatics, and Vocational Education)

This paper presents a digital implementation of a brushless direct current motor (BLDCM) drive with a six-step pulse width modulation (PWM) using a programmable simplified C-block based on the STM32 microcontroller. The implementation is conducted through the PSIM simulation platform, which is commonly used for power electronics and motor control. This approach combines the benefits of using a programmable simplified C-block for precise and flexible programming with the PWM concepts of the STM32 microcontroller. The PWM method used on the BLDCM drive is the unipolar upper PWM technique (H~PWM_L~ON). The performance of the PWM implementation is analyzed in detail, including …

Novel Locomotion Methods In Magnetic Actuation And Pipe Inspection, Adam Cox

Mechanical Engineering Research Theses and Dissertations

There is much room for improvement in tube network inspections of jet aircraft. Often, these inspections are incomplete and inconsistent. In this paper, we develop a Modular Robotic Inspection System (MoRIS) for jet aircraft tube networks and a corresponding kinematic model. MoRIS consists of a Base Station for user control and communication, and robotic Vertebrae for accessing and inspecting the network. The presented and tested design of MoRIS can travel up to 9 feet in a tube network. The Vertebrae can navigate in all orientations, including smooth vertical tubes. The design is optimized for nominal 1.5" outside diameter tubes. We …

Digital Platform To Aid Youth Substance Abuse Prevention, Bingxuan Li

Discovery Undergraduate Interdisciplinary Research Internship

Through research and interviews, I discovered that a significant portion of students in Africa become drug addicts and drop out of school. The solution is to prevent youth substance abuse before it happens, so that more students in Africa may continue their education. With the strong motivation of expanding African student involvement in higher education, I participated DURI program to increase higher education rates in the Democratic Republic of the Congo, Africa. The local government is establishing rehabilitation centers to monitor at-risk students and prevent youth substance abuse, but due to extremely limited resources, it is critical to evaluate the …

On-Board Artificial Intelligence For Failure Detection And Safe Trajectory Generation, Eduardo Morillo

Doctoral Dissertations and Master's Theses

The use of autonomous flight vehicles has recently increased due to their versatility and capability of carrying out different type of missions in a wide range of flight conditions. Adequate commanded trajectory generation and modification, as well as high-performance trajectory tracking control laws have been an essential focus of researchers given that integration into the National Air Space (NAS) is becoming a primary need. However, the operational safety of these systems can be easily affected if abnormal flight conditions are present, thereby compromising the nominal bounds of design of the system's flight envelop and trajectory following. This thesis focuses on …

Development Of Directed Randomization For Discussing A Minimal Security Architecture, Henrique Oyama, Dominic Messina, Keshav Kasturi Rangan, Akkarakaran Francis Leonard, Kip Nieman, Helen Durand, Katie Tyrrell, Katrina Hinzman, Michael Williamson

Chemical Engineering and Materials Science Faculty Research Publications

Strategies for mitigating the impacts of cyberattacks on control systems using a control-oriented perspective have become of greater interest in recent years. Our group has contributed to this trend by developing several methods for detecting cyberattacks on process sensors, actuators, or both sensors and actuators simultaneously using an advanced optimization-based control strategy known as Lyapunov-based economic model predictive control (LEMPC). However, each technique comes with benefits and limitations, both with respect to one another and with respect to traditional information technology and computer science-type approaches to cybersecurity. An important question to ask, therefore, is what the goal should be of …

Diy Cell Incubator, Hayden James Jeanor

Electrical Engineering

The purpose of creating a cell Incubator is for the development of cell and tissue production in laboratory settings. Large scale research projects and the medical community grow cells for various reasons, including experiments and creating tissue for patients. However, they cannot simply depend on growing cells in a petri dish that sit on a rack at room temperature. To grow heathy cells in the fastest way possible, they use cell incubators. Cell incubators create an atmosphere within the incubation bay that is designed to promote cell growth. The three main components that need to be constantly regulated, using a …

Multi-Criteria Performance Evaluation And Control In Power And Energy Systems, Payam Ramezani Badr

All Dissertations

The role of intuition and human preferences are often overlooked in autonomous control of power and energy systems. However, the growing operational diversity of many systems such as microgrids, electric/hybrid-electric vehicles and maritime vessels has created a need for more flexible control and optimization methods. In order to develop such flexible control methods, the role of human decision makers and their desired performance metrics must be studied in power and energy systems. This dissertation investigates the concept of multi-criteria decision making as a gateway to integrate human decision makers and their opinions into complex mathematical control laws. There are two …

Modeling, Control And Estimation Of Reconfigurable Cable Driven Parallel Robots, Adhiti Raman Thothathri

All Dissertations

The motivation for this thesis was to develop a cable-driven parallel robot (CDPR) as part of a two-part robotic device for concrete 3D printing. This research addresses specific research questions in this domain, chiefly, to present advantages offered by the addition of kinematic redundancies to CDPRs. Due to the natural actuation redundancy present in a fully constrained CDPR, the addition of internal mobility offers complex challenges in modeling and control that are not often encountered in literature.

This work presents a systematic analysis of modeling such kinematic redundancies through the application of reciprocal screw theory (RST) and Lie algebra while …

Optical Control System For Atmospheric Turbulence Mitigation, Martyn Lemon

All Theses

Propagation of laser light is distorted in the presence of atmospheric turbulence. This poses an issue for sensing, free-space optical communications, and transmission of power. With an ever-increasing demand for high-speed data communications, particularly between satellites, unmanned vehicles, and other systems that benefit from a point-to-point link, this issue is critical for the field. A variety of methods have been proposed to circumvent this issue. Some major categories include the manipulation of the light’s structure, an adaptive scheme at the optical receiver, scanning mirror systems, or a transmission of simultaneous signals with a goal to improve robustness.

There is an …

Decentralized Resource Allocation Through Constrained Centroidal Voronoi Tessellations, Bhagyashri Telsang

Doctoral Dissertations

The advancements in the fields of microelectronics facilitate incorporating team elements like coordination into engineering systems through advanced computing power. Such incorporation is useful since many engineering systems can be characterized as a collection of interacting subsystems each having access to local information, making local decisions, interacting with neighbors, and seeking to optimize local objectives that may well conflict with other subsystems, while also trying to optimize certain global objective. In this dissertation, we take advantage of such technological advancements to explore the problem of resource allocation through different aspects of the decentralized architecture like information structure in a team. …

Nonlinear Observers For Burning Zone Temperatures And Torque Estimation Of The Rotary Cement Kiln., Bhagyashri Aditya Bhagwat

Electronic Theses and Dissertations

Due to consistent expansion in the infrastructure and housing sectors worldwide have given a new way for the rapid growth of global cement market. Increased global demand for the cement production makes the attractive research topic which can lead to the quality and overall efficiency of the product. Measurement of the temperature in the burning zone is vital to maintain product quality and kiln efficiency in the cement industry. Often the BZT is un-measurable due to internal kiln conditions, dusty environment, extreme heat, harshness for example and this leads to kiln not being driven as efficient as possible. Multi-physics tools …

Parallel Distributed Compensation-Pid Controller Design For Maximum Power Point Tracking Of Dynamic Loaded Photovoltaic System, Anas Shomer, Helmy El Zoghby, Mohiy E. Bahgat, Soliman Sharaf

Future Engineering Journal

Control issues come from the output voltage of PV installations and systems operating in a range of irradiance and temperature. By using a DC converter, such systems are able to maintain a constant output voltage despite fluctuations in the generated voltage and load. The design of a maximum power point tracking (MPPT) on DC converter controller is presented in this article for a system. Fractional Order-Proportional Integral Derivative (FO-PID) and Parallel Distributed Compensation-Proportional Integral Derivative (PDC-PID) controllers have been implemented to the system converter as a proposed control approach. Particle Swarm Optimization (PSO) is used as optimization technique for determining …

Cybersecurity And Dynamic Operation In Practice: Equipment Impacts And Safety Guarantees, Kip Nieman, Dominic Messina, Matthew Wegener, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

Though dynamic operation of chemical processes has been extensively explored theoretically in contexts such as economic model predictive control or even considering the potential for cyberattacks on control systems creating non-standard operating policies, important practical questions remain regarding dynamic operation. In this work, we look at two of these with particular relevance to process safety: (1) evaluating dynamic operating policies with respect to process equipment fidelity and (2) evaluating procedures for determining the parameters of an advanced control law that can promote both dynamic operation as well as safety if appropriately designed. Regarding the first topic, we utilize computational fluid …

Hypoxic Incubation Chamber, Simone Lisette Helfrich, Makenzie Nicole Jones

Biomedical Engineering: Graduate Reports and Projects

This paper describes the design, manufacturing, and testing of a novel controllable hypoxic incubator with fully functional oxygen gas control and temperature control in a humid environment. On the current market, a majority of the few hypoxic incubators use pre-mixed gas that does not offer precise control over gas concentration. The objective for this project was to create a chamber that allows the user to set the O2 concentration to varying set points of % O2 while maintaining the chamber at a constant body temperature, CO2 level, humidity, and sterility. To start the project, multiple concepts were developed for the …

Hypoxic Incubation Chamber, Simone Lisette Helfrich, Makenzie Nicole Jones

Master's Theses

This paper describes the design, manufacturing, and testing of a novel controllable hypoxic incubator with fully functional oxygen gas control and temperature control in a humid environment. On the current market, a majority of the few hypoxic incubators use pre-mixed gas that does not offer precise control over gas concentration. The objective for this project was to create a chamber that allows the user to set the O2 concentration to varying set points of % O2 while maintaining the chamber at a constant body temperature, CO2 level, humidity, and sterility. To start the project, multiple concepts were developed for the …

Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng

All Dissertations

Multi-robot systems (MRS) can accomplish more complex tasks with two or more robots and have produced a broad set of applications. The presence of a human operator in an MRS can guarantee the safety of the task performing, but the human operators can be subject to heavier stress and cognitive workload in collaboration with the MRS than the single robot. It is significant for the MRS to have the provable correct task and motion planning solution for a complex task. That can reduce the human workload during supervising the task and improve the reliability of human-MRS collaboration. This dissertation relies …

Event-Triggered Optimal Adaptive Control Of Partially Unknown Linear Continuous-Time Systems With State Delay, Rohollah Moghadam, Vignesh Narayanan, Sarangapani Jagannathan

Publications

This paper proposes an event-triggered optimal adaptive output feedback control design approach by utilizing integral reinforcement learning (IRL) for linear time-invariant systems with state delay and uncertain internal dynamics. In the proposed approach, the general optimal control problem is formulated into the game-theoretic framework by treating the event-triggering threshold and the optimal control policy as players. A cost function is defined and a value functional, which includes the delayed system output, is considered. First, by using the value functional and applying stationarity conditions using the Hamiltonian function, the output game delay algebraic Riccati equation (OGDARE) and optimal control policy are …

Three-Phase Ac Induction Motor Speed Control Based On Variable Speed Driver, Abdelrahim Ahmed Mohammed Ate, Rihab Gafar, Xiuyun Sun, Tahleel Abozead

Makara Journal of Technology

Massive loss of power is a concern for many countries because of the high power consumption of alternating current (AC) motors. The motor speed should be controlled to alleviate this problem and save more power. This paper proposes a simple simulation for a variable speed driver (VSD) to control the three-phase induction motor speed. The VSD consists of three parts. The converter performs from full bridge diodes to convert single-phase AC voltage into direct current voltage, and then this voltage is filtered by the RL filter and transferred to the last part, which is the inverter. The model was simulated …

Project Khepri: Mining Asteroid Bennu For Water, Erika Frost, Gowtham Boyala, Adam Gremm, Ahmet Gungor, Amirhossein Taghipour, Massimo Biella, Jiawei "Jackson" Qiu, Athip Thirupathi Raj, Arjun Chhabra, Adam Gee, Saanjali Maharaj, Erin Richardson, Julia Empey, Haidar Ali Abdul-Nabi, Lindsay Richards, Ariyaan Talukder, Aaron Groh, Brie Miklaucic, Jd Carlson, Kristina Kim, Maverick Cue

Undergraduate Student Research Internships Conference

Deep space asteroid mining presents the opportunity for the collection of critical resources required to establish a cis-lunar infrastructure. In specific, the Project Khepri team has focused on the collection of water from asteroid Bennu. This water has the potential to provide a source of clean-energy propellant as well as an essential consumable for humans or agriculture on crewed trips to the Moon or Mars. This would avoid the high costs of launching from Earth - making it a highly desirable element for the future of cis-lunar infrastructure. The OSIRIS-REx mission provided a complete survey of asteroid Bennu and is …

Stability Analysis And Design Of Grid-Interactive Power Electronic Converters, Le Kong

Doctoral Dissertations

The increasing penetration of power electronic converters (PECs) can provide high flexibility, full controllability, sustainability, and improved efficiency for future electric power systems. However, it also introduces new challenges since the wide-frequency-band control dynamics of PECs can interact with the power system and result in different types of instability issues. To holistically address the instability issues, several research activities are conducted in this dissertation.

The modular multilevel converter (MMC), which is one of the most common PECs in high- or medium-voltage power systems, is investigated. An improved MMC dc impedance model is developed by considering both the submodule voltage and …

Efficient Control Approaches For Guaranteed Frequency Performance In Power Systems, Samaneh Morovati

Doctoral Dissertations

Due to high penetration of renewable energy, converter-interfaced sources are increasing in power systems and degrading the grid frequency response. Synthetic inertia emulation and guaranteed primary frequency response is a challenging task. Still, there is high potential for application of highly controllable converter-interfaced devices to help performance. Renewable energy sources and demand side smart devices also need to be equipped with innovative frequency control approaches that contribute to frequency regulation operations.

First, the wind turbine generator is chosen to represent an example of a converter- interfaced source. An augmented system frequency response model is derived, including the system frequency response …

Hybrid Smart Transformer For Enhanced Power System Protection Against Dc With Advanced Grid Support, Moazzam Nazir

All Dissertations

The traditional grid is rapidly transforming into smart substations and grid assets incorporating advanced control equipment with enhanced functionalities and rapid self-healing features. The most important and strategic equipment in the substation is the transformer and is expected to perform a variety of functions beyond mere voltage conversion and isolation. While the concept of smart solid-state transformers (SSTs) is being widely recognized, their respective lifetime and reliability raise concerns, thus hampering the complete replacement of traditional transformers with SSTs. Under this scenario, introducing smart features in conventional transformers utilizing simple, cost-effective, and easy to install modules is a highly desired …

Distributed Learning With Automated Stepsizes, Benjamin Liggett

All Theses

Stepsizes for optimization problems play a crucial role in algorithm convergence, where the stepsize must undergo tedious manual tuning to obtain near-optimal convergence. Recently, an adaptive method for automating stepsizes was proposed for centralized optimization. However, this method is not directly applicable to decentralized optimization because it allows for heterogeneous agent stepsizes. Furthermore, directly using consensus between agent stepsizes to mitigate stepsize heterogeneity can decrease performance and even lead to divergence.

This thesis proposes an algorithm to remedy the tedious manual tuning of stepsizes in decentralized optimization. Our proposed algorithm automates the stepsize and uses dynamic consensus between agents’ stepsizes …

Protection Of Microgrids: A Scalable And Topology Agnostic Scheme With Self-Healing Dynamic Reconfiguration, Phani Harsha Gadde

All Dissertations

Momentum towards realizing the smart grid will continue to result in high penetration of renewable fed Distributed Energy Resources (DERs) in the Electric Power System (EPS). These DERs will most likely be Inverter Based Resources(IBRs) and will be an integral part of the distribution system in the near future. The drive towards resiliency with these IBRs will enable a modular topology where several microgrids are tied together, operating synchronously to form the future EPS at the distribution level.

Since the microgrids can evolve from existing distribution feeders, they will be unbalanced in load, phases, and feeder impedances. A typical control …

Control Implemented On Quantum Computers: Effects Of Noise, Nondeterminism, And Entanglement, Kip Nieman, Keshav Kasturi Rangan, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

Quantum computing has advanced in recent years to the point that there are now some quantum computers and quantum simulators available to the public for use. In addition, quantum computing is beginning to receive attention within the process systems engineering community for directions such as machine learning and optimization. A logical next step for its evaluation within process systems engineering is for control, specifically for computing control actions to be applied to process systems. In this work, we provide some initial studies regarding the implementation of control on quantum computers, including the implementation of a single-input/single-output proportional control law on …

Robust Sensor Design For The Novel Reduced Models Of The Mead-Marcus Sandwich Beam Equation, Ahmet Aydin

Masters Theses & Specialist Projects

Novel space-discretized Finite Differences-based model reductions are proposed for the partial differential equations (PDE) model of a multi-layer Mead-Marcus-type beam with (i) hinged-hinged and (ii) clamped-free boundary conditions. The PDE model describes transverse vibrations for a sandwich beam whose alternating outer elastic layers constrain viscoelastic core layers, which allow transverse shear. The major goal of this project is to design a single boundary sensor, placed at the tip of the beam, to control the overall dynamics on the beam.

For (i), it is first shown that the PDE model is exactly observable by the so-called nonharmonic Fourier series approach. However, …

Actuator Cyberattack Handling Using Lyapunov-Based Economic Model Predictive Control, Keshav Kasturi Rangan, Henrique Oyama, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

Cybersecurity has gained increasing interest as a consequence of the potential impacts of cyberattacks on profits and safety. While attacks can affect various components of a plant, prior work from our group has focused on the impact of cyberattacks on control components such as process sensors and actuators and the development of detection strategies for cybersecurity derived from control theory. In this work, we provide greater focus on actuator attacks; specifically, we extend a detection and control strategy previously applied for sensor attacks and based on an optimization-based control technique called Lyapunov-based economic model predictive control (LEMPC) to detect attacks …

Test Methods For Image-Based Information In Next-Generation Manufacturing, Henrique Oyama, Dominic Messina, Renee O'Neill, Samantha Cherney, Minhazur Rahman, Keshav Kasturi Rangan, Govanni Gjonaj, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

Typical control designs in the process systems engineering literature have assumed that the primary sensing methodologies are traditional instruments such as thermocouples. Dig- italization is changing the landscape for manufacturing, and data-based sensing modalities (e.g., image-based sensing) are becoming of greater interest for plant control. These considerations require novel test/evaluation solutions. For example, process systems engineering researchers may wish to test image-based sensors in simulation. In this work, we provide preliminary thoughts on how image-based technologies might be evaluated via simulation for process systems.

Quantum Computing And Resilient Design Perspectives For Cybersecurity Of Feedback Systems, Keshav Kasturi Rangan, Jihan Abou Halloun, Henrique Oyama, Samantha Cherney, Ilham Azali Assoumani, Nazir Jairazbhoy, Helen Durand, Simon Ka Ng

Chemical Engineering and Materials Science Faculty Research Publications

Cybersecurity of control systems is an important issue in next-generation manufac- turing that can impact both operational objectives (safety and performance) as well as process designs (via hazard analysis). Cyberattacks differ from faults in that they can be coordinated efforts to exploit system vulnerabilities to create otherwise unlikely hazard scenarios. Because coordination and targeted process manipulation can be characteristics of attacks, some of the tactics previously analyzed in our group from a control system cybersecurity perspective have incorporated randomness to attempt to thwart attacks. The underlying assumption for the generation of this randomness has been that it can be achieved …

Challenges And Opportunities For Next-Generation Manufacturing In Space, Kip Nieman, A. F. Leonard, Katie Tyrell, Dominic Messina, Rebecca Lopez, Helen Durand

Chemical Engineering and Materials Science Faculty Research Publications

With commercial space travel now a reality, the idea that people might spend time on other planets in the future seems to have greater potential. To make this possible, however, there needs to be flexible means for manufacturing in space to enable tooling or resources to be created when needed to handle unexpected situations. Next-generation manufacturing paradigms offer significant potential for the kind of flexibility that might be needed; however, they can result in increases in computation time compared to traditional control methods that could make many of the computing resources already available on earth attractive for use. Furthermore, resilience …