Controls and Control Theory Commons^™

Performance Of Sensor Fusion For Vehicular Applications, Nikola Janevski

Graduate Theses, Dissertations, and Problem Reports

Sensor fusion is a key system in Advanced Driver Assistance Systems, ADAS. The perfor-
mance of the sensor fusion depends on many factors such as the sensors used, the kinematic
model used in the Extended Kalman Filter, EKF, the motion of the vehicles, the type of
road, the density of vehicles, and the gating methods. The interactions between parameters
and the extent to which individual parameters contribute to the overall accuracy of a sensor
fusion system can be difficult to assess.
In this study, a full-factorial experimental evaluation of a sensor fusion system based
on a real vehicle was performed. …

Improvement Of Stability Of A Grid-Connected Inverter With An Lcl Filter By Robust Strong Active Damping And Model Predictive Control, Seungyong Lee

Graduate Theses and Dissertations

This study addresses development and implementation of robust control methods for a three-phase grid-connected voltage source inverter (VSI) accompanied by an inductive-capacitive-inductive (LCL) filter. A challenge of current control for the VSI is LCL filter resonance near to the control stability boundary, which interacts with the inverter control switching actions and creates the possibility of instability. In general, active damping is needed to stabilize the system and ensure robust performance in steady-state and dynamic responses. While many active damping methods have been proposed to resolve this issue, capacitor-current-feedback active damping has been most widely used for its simple implementation.

There …

Structural – Parametric Analysis And Synthesis Of Glass Furnace Condition Observer, Utkir Uktam O‘G‘Li Kholmanov

Chemical Technology, Control and Management

A modified Kalman filter of the glass cooking process is synthesized, taking into account perturbations in the form of a sequence of colored noises. The possibility of expanding this filter by noise filters to improve functioning in the presence of low-frequency disturbances is studied and a corresponding estimation scheme with additional noise filters is proposed. The results of the simulation allow us to assume that low-frequency disturbances in the glass furnace act at the input and affect the state of the control object.

Identification Of Transition Matrix Of Controlled Objects Under Parametric Uncertainty Condition, Uktam Farkhodovich Mamirov

Chemical Technology, Control and Management

The questions of formation and construction of algorithms for identification of elements of the transition matrix of controlled objects in conditions of parametric uncertainty are considered. To identify elements of the transition matrix, we suggest using a custom model based on the type of Kalman filtration equations. Algorithms for stable calculation of a pseudo-inverse matrix using matrix decomposition are analyzed. Regular algorithms for solving argumentative problems of minimization of the identification quality criterion are given. These algorithms allow us to regularize the problem of adaptive identification of the transition matrix of an object based on regular methods for minimizing functionals …

Vision-Based Autonomous Tracking Of A Non-Cooperative Mobile Robot By A Low-Cost Quadrotor Vehicle, Cheikhna Ahmed Tidiane Sy

Electrical and Computer Engineering ETDs

The goal of this thesis is the detection and tracking of a ground vehicle, in particular a car-like robot, by a quadrotor. The first challenge to address in any pursuit or tracking scenario is the detection and unique identification of the target. From this first challenge, comes the need to precisely localize the target in a coordinate system that is common to the tracking and tracked vehicles. In most real-life scenarios, the tracked vehicle does not directly communicate information such as its position to the tracking one. From this fact, arises a non-cooperative constraint problem. The autonomous tracking aspect of …

Resource Optimization In Wireless Sensor Networks For An Improved Field Coverage And Cooperative Target Tracking, Husam Sweidan

Dissertations, Master's Theses and Master's Reports

There are various challenges that face a wireless sensor network (WSN) that mainly originate from the limited resources a sensor node usually has. A sensor node often relies on a battery as a power supply which, due to its limited capacity, tends to shorten the life-time of the node and the network as a whole. Other challenges arise from the limited capabilities of the sensors/actuators a node is equipped with, leading to complication like a poor coverage of the event, or limited mobility in the environment. This dissertation deals with the coverage problem as well as the limited power and …

An Adaptive Kalman Filter For Voltage Sag Detection In Power Systems, Hisham Odeh Alrawashdeh

Dissertations

The exact values of the noise covariance matrix of the Kalman filter state vector Q and the measured signal noise covariance matrix R must be obtained in order to achieve the optimal performance of the Kalman filter. There have been many techniques and assumptions made to evaluate and compute Q and R. The effects of Q and R are investigated in detail in this dissertation. Based on these investigations, the Kalman filter has been modeled to detect the fundamental signal amplitude variations of power system signals. This technique helps in evaluating voltage sags in power systems.

Two algorithms are …

Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena

Abhijit Saxena

In microsurgery, the human hand imposes certain limitations in accurately positioning the tip of a device such as scalpel. Any errors in the motion of the hand make microsurgical procedures difficult and involuntary motions such as hand tremors can make some procedures significantly difficult to perform. This is particularly true in the case of vitreoretinal microsurgery. The most familiar source of involuntary motion is physiological tremor. Real-time compensation of tremor is, therefore, necessary to assist surgeons to precisely position and manipulate the tool-tip to accurately perform a microsurgery. In this thesis, a novel handheld device (AID) is described for compensation …

Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena

Electronic Thesis and Dissertation Repository

In microsurgery, the human hand imposes certain limitations in accurately positioning the tip of a device such as scalpel. Any errors in the motion of the hand make microsurgical procedures difficult and involuntary motions such as hand tremors can make some procedures significantly difficult to perform. This is particularly true in the case of vitreoretinal microsurgery. The most familiar source of involuntary motion is physiological tremor. Real-time compensation of tremor is, therefore, necessary to assist surgeons to precisely position and manipulate the tool-tip to accurately perform a microsurgery. In this thesis, a novel handheld device (AID) is described for compensation …