Acoustics, Dynamics, and Controls Commons^™

P26. Global Exponential Stabilization On So(3), Soulaimane Berkane

Western Research Forum

Global Exponential Stabilization on SO(3)

Advances In Multi-Agent Flocking: Continuous-Time And Discrete-Time Algorithms, Brandon Wellman

Theses and Dissertations--Mechanical and Aerospace Engineering

We present multi-agent control methods that address flocking in continuous-time and discrete-time settings. The method is decentralized, that is, each agents controller relies on local sensing to determine the relative positions and velocities of nearby agents. In the continuous-time setting, each agent has double-integrator dynamics. In the discrete-time setting, each agent has the discrete-time double-integrator dynamics obtained by sampling the continuous-time double integrator and applying a zero-order hold on the control input. We demonstrate using analysis, numerical simulations, and experimental demonstrations that agents using the flocking methods converge to flocking formations and follow the centralized leader (if applicable).

Model-Based Control Of An Rcci Engine, Akshat Abhay Raut

Dissertations, Master's Theses and Master's Reports

Reactivity controlled compression ignition (RCCI) is a combustion strategy that offers high fuel conversion efficiency and near zero emissions of NOx and soot which can help in improving fuel economy in mobile and stationary internal combustion engine (ICE) applications and at the same time lower engine-out emissions. One of the main challenges associated with RCCI combustion is the difficulty in simultaneously controlling combustion phasing, engine load, and cyclic variability during transient engine operations.

This thesis focuses on developing model based controllers for cycle-to-cycle combustion phasing and load control during transient operations. A control oriented model (COM) is developed by using …

Electromagnetic Signal Feedback Control For Proximity Detection Systems, Adam K. Smith

Dissertations, Master's Theses and Master's Reports

Coal is the most abundant fossil fuel in the United States and remains an essential source of energy. While more than half of coal production comes from surface mining, nearly twice as many workers are employed by underground operations.

One of the key pieces of equipment used in underground coal mining is the continuous mining machine. These large and powerful machines are operated in confined spaces by remote control. Since 1984, 40 mine workers in the U. S. have been killed when struck or pinned by a continuous mining machine. It is estimated that a majority of these accidents could …

Audio-Based Productivity Forecasting Of Construction Cyclic Activities, Chris A. Sabillon

College of Graduate Studies: Theses & Dissertations

Due to its high cost, project managers must be able to monitor the performance of construction heavy equipment promptly. This cannot be achieved through traditional management techniques, which are based on direct observation or on estimations from historical data. Some manufacturers have started to integrate their proprietary technologies, but construction contractors are unlikely to have a fleet of entirely new and single manufacturer equipment for this to represent a solution. Third party automated approaches include the use of active sensors such as accelerometers and gyroscopes, passive technologies such as computer vision and image processing, and audio signal processing. Hitherto, most …

Active Management Assistant System For Embry-Riddle Ecocar 3 Hybrid Supervisory Control System, Matthew Nelson, Blair Cutting, Michael J. Aleardi

Student Works

The Embry-Riddle EcoCAR 3 team is developing a prototype hybrid Chevrolet Camaro utilizing a customized vehicle powertrain controller. This controller is serving to ensure system safety, vehicle operation, and consumer drivability while also incorporating advanced driving aids to achieve both the desired performance levels one expects from a Camaro as well as vehicle efficiency. This vehicle must reach the team set vehicle technical specifications of a 4.9 second 0 to 60 time while maintaining a 53 miles per gallon gasoline equivalence rating.

In order to reach the efficiency goal, the team is developing an Active Management Assistance System utilizing computer …

The Simulation For Ultrasonic Testing Based On Frequency-Phase Coded Excitation, Jiaying Zhang, Wenlong Tian, Tie Gang, Sen Cong, Zhaoyang Sheng

The 8th International Conference on Physical and Numerical Simulation of Materials Processing

No abstract provided.

Frequency Based Noise Coherence-Function Extension And Application To Passive Bottom-Loss Estimation, Lanfranco Muzi, Martin Siderius, Peter L. Nielsen

Electrical and Computer Engineering Faculty Publications and Presentations

Accurate modeling of acoustic propagation in the ocean waveguide is important to SONAR-performance prediction. Particularly in shallow waters, a crucial contribution to the total transmission loss is the bottom refection loss, which can be estimated passively by beamforming the natural surface-noise acoustic field recorded by a vertical line array of hydrophones. However, the performance in this task of arrays below 2 m of length is problematic for frequencies below 10 kHz" role="presentation" style="display: inline; line-height: normal; word-spacing: normal; word-wrap: normal; white-space: nowrap; float: none; direction: ltr; max-width: none; max-height: none; min-width: 0px; min-height: 0px; border: 0px; padding: 0px 2px 0px …

Delay-Independent Stability Analysis Of Linear Time-Delay Systems Based On Frequency, Xianwei Li, Huijun Gao, Keqin Gu

SIUE Faculty Research, Scholarship, and Creative Activity

This paper studies strong delay-independent stability of linear time-invariant systems. It is known that delay-independent stability of time-delay systems is equivalent to some frequency-dependent linear matrix inequalities. To reduce or eliminate conservatism of stability criteria, the frequency domain is discretized into several sub-intervals, and piecewise constant Lyapunov matrices are employed to analyze the frequency-dependent stability condition. Applying the generalized Kalman–Yakubovich–Popov lemma, new necessary and sufficient criteria are then obtained for strong delay-independent stability of systems with a single delay. The effectiveness of the proposed method is illustrated by a numerical example.

Magnetic Bearing For Bently Nevada Rk4 Rotor Kits, Sean Fowler, Garrett Olson

Mechanical Engineering

Active Magnetic Bearings (AMB) are contact free bearings that support loads by magnetic levitation. This is accomplished by generating magnetic forces with electric current through a series of electromagnets surrounding a suspended rotor mass. Along with a set of electromagnets, an AMB assembly also consists of power amplifiers for each electromagnet, a controller, and proximity sensors. The proximity sensors provide rotor position feedback to the control system, which modulates power to the amplifiers [4]. Magnetic bearings are used in several industrial applications today, including but not limited to compressors, turbines, pumps, motors, and generators. Advantages of their utility include very …

Improved Sensitivity Mems Cantilever Sensor For Terahertz Photoacoustic Spectroscopy, Ronald A. Coutu Jr., Ivan R. Medvedev, Douglas T. Petkie

Faculty Publications

In this paper, a microelectromechanical system (MEMS) cantilever sensor was designed, modeled and fabricated to measure the terahertz (THz) radiation induced photoacoustic (PA) response of gases under low vacuum conditions. This work vastly improves cantilever sensitivity over previous efforts, by reducing internal beam stresses, minimizing out of plane beam curvature and optimizing beam damping. In addition, fabrication yield was improved by approximately 50% by filleting the cantilever’s anchor and free end to help reduce high stress areas that occurred during device fabrication and processing. All of the cantilever sensors were fabricated using silicon-on-insulator (SOI) wafers and tested in a custom …

Comparing Various Hardware/Software Solutions And Conversion Methods For Controller Area Network (Can) Bus Data Collection, Samuel E. Marx, Joe D. Luck, Santosh Pitla, Roger M. Hoy

Department of Agricultural and Biological Systems Engineering: Faculty Publications

Various hardware and software solutions exist for collecting Controller Area Network (CAN) bus data. Digital data accuracy could vary based upon different data logging methods (e.g., hardware/software timing, processor timing, etc.). CAN bus data were collected from agricultural tractors using multiple data acquisition solutions to quantify differences among collection methods and demonstrate potential data accumulation rates. Two types of data were observed for this study. The first, CAN bus frame data, represents data collected for each line of hex data sent from an ECU. One issue with frame data is the resulting large file sizes, therefore a second logging format …

Developing And Testing An Anguilliform Robot Swimming With Theoretically High Hydrodynamic Efficiency, John B. Potts Iii

LSU New Orleans Theses and Dissertations

An anguilliform swimming robot replicating an idealized motion is a complex marine vehicle necessitating both a theoretical and experimental analysis to completely understand its propulsion characteristics. The ideal anguilliform motion within is theorized to produce ``wakeless'' swimming (Vorus, 2011), a reactive swimming technique that produces thrust by accelerations of the added mass in the vicinity of the body. The net circulation for the unsteady motion is theorized to be eliminated.

The robot was designed to replicate the desired, theoretical motion by applying control theory methods. Independent joint control was used due to hardware limitations. The fluid velocity vectors in the …

Text-Independent Speaker Identification Using Statistical Learning, Alli Ayoola Ojutiku

Graduate Theses and Dissertations

The proliferation of voice-activated devices and systems and over-the-phone bank transactions has made our daily affairs much easier in recent times. The ease that these systems offer also call for a need for them to be fail-safe against impersonators. Due to the sensitive information that might be shred on these systems, it is imperative that security be an utmost concern during the development stages. Vital systems like these should incorporate a functionality of discriminating between the actual speaker and impersonators. That functionality is the focus of this thesis.

Several methods have been proposed to be used to achieve this system …

Estimation Of Outer-Middle Ear Transmission Using Dpoaes And Fractional-Order Modeling Of Human Middle Ear, Maryam Naghibolhosseini

Dissertations, Theses, and Capstone Projects

Our ability to hear depends primarily on sound waves traveling through the outer and middle ear toward the inner ear. Hence, the characteristics of the outer and middle ear affect sound transmission to/from the inner ear. The role of the middle and outer ear in sound transmission is particularly important for otoacoustic emissions (OAEs), which are sound signals generated in a healthy cochlea, and recorded by a sensitive microphone placed in the ear canal. OAEs are used to evaluate the health and function of the cochlea; however, they are also affected by outer and middle ear characteristics. To …

Acoustic Testing Of Generator/Alternator Fans, Jacob Kriesel

Culminating Projects in Electrical Engineering

The intent of this project was to fill in a gap of the testing knowledge possessed for acoustics of an alternator within a generator set. The objective was to build a test fixture that would allow the user to test the acoustics of alternators without the driving force of an engine, which is a high acoustic source during testing. Eliminating the engine from the equation would allow for more accurate data of the product line, allowing for better utilization of acoustic tools when implementing sound source dampening. At the end of the project, it was found that the test fixture …

Automated Foosball Table, Jim R. Stefani, Alex J. Herpy, Brett Gordon Jaeger, Kevin S. Haydon, Derek Alan Hamel

Mechanical Engineering

This project is the second iteration of an automated foosball table for Yaskawa America as a trade show display. The table is meant to provide an interactive experience which highlights the speed and precision of the Yaskawa hardware. The first iteration of the project was mainly focused on creating the physical hardware for the system and to begin the basic programming for the system. This phase of the project was focused on finalizing the physical hardware of the system, implementing the vision system and to continue the basic programing of the system AI. A third team will be assigned to …

Applying Spiking Neural Network Simulation To Neuromodulatory Autonomous Robot Control, Cameron Muhammad

Phi Kappa Phi Research Symposium (Archived)

In this paper, simulation of the brain based on an artificial spiking neuron model is used to create a self-learning algorithm. The spiking neuron simulation is used to demonstrate a neuromodulation program in which the reward seeking properties of dopamine, the risk-adverse effects of serotonin, and the attention-focusing effects of the cholinergic and noradrenergic systems are applied to a mobile robotic platform as it moves autonomously throughout an environment. External stimuli is recorded by the program as spiking “events” that result in corresponding amounts of dopamine and serotonin influenced spiking patterns. These spiking patterns affect how the robot adapts to …

Filtered-Dynamic-Inversion Control For Fixed-Wing Unmanned Aerial Systems, Jon Mullen

Theses and Dissertations--Mechanical and Aerospace Engineering

Instrumented umanned aerial vehicles represent a new way of measuring turbulence in the atmospheric boundary layer. However, autonomous measurements require control methods with disturbance-rejection and altitude command-following capabilities. Filtered dynamic inversion is a control method with desirable disturbance-rejection and command-following properties, and this controller requires limited model information. We implement filtered dynamic inversion as the pitch controller in an altitude-hold autopilot. We design and numerically simulate the continuous-time and discrete-time filtered-dynamic-inversion controllers with anti-windup on a nonlinear aircraft model. Finally, we present results from a flight experiment comparing the filtered-dynamic-inversion controller to a classical proportional-integral controller. The experimental results show …

Neuromodulation Based Control Of Autonomous Robots On A Cloud Computing Platform, Cameron Muhammad

College of Graduate Studies: Theses & Dissertations

In recent years, the advancement of neurobiologically plausible models and computer networking has resulted in new ways of implementing control systems on robotic platforms. The work presents a control approach based on vertebrate neuromodulation and its implementation on autonomous robots in the open-source, open-access environment of robot operating system (ROS). A spiking neural network (SNN) is used to model the neuromodulatory function for generating context based behavioral responses of the robots to sensory input signals. The neural network incorporates three types of neurons- cholinergic and noradrenergic (ACh/NE) neurons for attention focusing and action selection, dopaminergic (DA) neurons for rewards- and …

Decentralized Adaptive Control For Uncertain Linear Systems: Techniques With Local Full-State Feedback Or Local Relative-Degree-One Output Feedback, James D. Polston

Theses and Dissertations--Mechanical and Aerospace Engineering

This thesis presents decentralized model reference adaptive control techniques for systems with full-state feedback and systems with output feedback. The controllers are strictly decentralized, that is, each local controller uses feedback from only local subsystems and no information is shared between local controllers.

The full-state feedback decentralized controller is effective for multi-input systems, where the dynamics matrix and control-input matrix are unknown. The decentralized controller achieves asymptotic stabilization and command following in the presence of sinusoidal disturbances with known spectrum. We present a construction technique of the reference-model dynamics such that the decentralized controller is effective for systems with arbitrarily …

Automated Extraction And Classification Of Time-Frequency Contours In Humpback Vocalizations, Hui Ou, Whitlow W.L. Au, Lisa M. Zurk, Marc O. Lammers

Electrical and Computer Engineering Faculty Publications and Presentations

A time-frequency contour extraction and classification algorithm was created to analyze humpback whale vocalizations. The algorithm automatically extracted contours of whale vocalization units by searching for gray-level discontinuities in the spectrogram images. The unit-to-unit similarity was quantified by cross-correlating the contour lines. A library of distinctive humpback units was then generated by applying an unsupervised, cluster-based learning algorithm. The purpose of this study was to provide a fast and automated feature selection tool to describe the vocal signatures of animal groups. This approach could benefit a variety of applications such as species description, identification, and evolution of song structures. The …

A Review Of Some Subtleties Of Practical Relevance, Keqin Gu

SIUE Faculty Research, Scholarship, and Creative Activity

This paper reviews some subtleties in time-delay systems of neutral type that are believed to be of particular relevance in practice. Both traditional formulation and the coupled differential-difference equation formulation are used. The discontinuity of the spectrum as a function of delays is discussed. Conditions to guarantee stability under small parameter variations are given. A number of subjects that have been discussed in the literature, often using different methods, are reviewed to illustrate some fundamental concepts. These include systems with small delays, the sensitivity of Smith predictor to small delay mismatch, and the discrete implementation of distributed-delay feedback control. The …

Root Locus Techniques With Nonlinear Gain Parameterization, Brandon Wellman

Theses and Dissertations--Mechanical and Aerospace Engineering

This thesis presents rules that characterize the root locus for polynomials that are nonlinear in the root-locus parameter k. Classical root locus applies to polynomials that are affine in k. In contrast, this thesis considers polynomials that are quadratic or cubic in k. In particular, we focus on constructing the root locus for linear feedback control systems, where the closed-loop denominator polynomial is quadratic or cubic in k. First, we present quadratic root-locus rules for a controller class that yields a closed-loop denominator polynomial that is quadratic in k. Next, we develop cubic root-locus rules …

Dynamic Test Scheduling In Hardware-In-The-Loop Simulation Of Commercial Vehicles, Tenil Cletus

Master's Theses

Modern day commercial vehicles are controlled by various Electronic Control Units (ECU). They are not only tested as single units, but also by networking them in Controlled Area Network bus (CAN) to form a complete electrical control system. This is achieved using Hardware In the Loop (HIL) Integration Lab. In HIL, the electrical system is connected to a real time mathematical model of the vehicle plus it’s environment so as to form a loop.

Testing functionality of the electrical system begins by defining functional tests. An example would be testing cruise control activation. Executing each test is made possible by …

Vibration-Based Health Monitoring Of Multiple-Stage Gear Train And Differential Planetary Transmission Involving Teeth Damage And Backlash Nonlinearity, Andrew Patrick Sommer

Master's Theses

The objective of this thesis is to develop vibration-based fault detection strategies for on-line condition monitoring of gear transmission systems. The study divides the thesis into three sections. First of all, the local stresses created by a root fatigue crack on a pinion spur gear are analyzed using a quasi-static finite element model and non-linear contact mechanics simulation. Backlash between gear teeth which is essential to provide better lubrication on tooth surfaces and to eliminate interference is included as a defect and a necessary part of transmission design. The second section is dedicated to fixed axis power trains. Torsional vibration …

Development Of A Cubesat Instrument For Microgravity Particle Damper Performance Analysis, John Trevor Abel

Master's Theses

Spacecraft pointing accuracy and structural longevity requirements often necessitate auxiliary vibration dissipation mechanisms.  However, temperature sensitivity and material degradation limit the effectiveness of traditional damping techniques in space.  Robust particle damping technology offers a potential solution, driving the need for microgravity characterization.   A 1U cubesat satellite presents a low cost, low risk platform for the acquisition of data needed for this evaluation, but severely restricts available mass, volume, power and bandwidth resources.  This paper details the development of an instrument subject to these constraints that is capable of capturing high resolution frequency response measurements of highly nonlinear particle damper dynamics.

Robust Region Tracking In Multi-Agent Systems Utilizing Sliding Mode Control: Theory And Applications, Mark Bacon

Master's Theses

This thesis presents a methodology to bring controlled agents within a moving region despite agent interaction dynamics, uncertain forces and parameter variation. The logic is derived from traditional Sliding Mode Control theory with an expanded boundary layer which allows position deviation from the region center to specified bounds. As an example of the utility of this control, multiple methods of herding (controlling passive agents by appropriate positioning of controlled agents) are presented.

Streaming Potential Generated By A Pressure-Driven Flow Over Superhydrophobic Stripes, Hui Zhao

Mechanical Engineering Faculty Research

The streaming potential generated by a pressure-driven flow over a weakly charged slip-stick surface [the zeta potential of the surface is smaller than the thermal potential (25 mV)] with an arbitrary double layer thickness is theoretically studied by solving the Debye–Huckel equation and Stokes equation. A series solution of the streaming potential is derived. Approximate expressions for the streaming potential in the limits of thin double layers and thick double layers are also given in excellent agreement with the full solution. To understand the impact of the slip, the streaming potential is compared against that over a homogeneously charged smooth …

Stochastic Optimal Control In Nonlinear Systems, Celestin Nkundineza

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Stochastic control is an important area of research in engineering systems that undergo disturbances. Controlling individual states in such systems is critical. The present investigation is concerned with the application of the stochastic optimal control strategy developed by To (2010) and its implementation as well as providing computed results of linear and nonlinear systems under stationary and nonstationary random excitations. In the strategy the feedback matrix is designed based on the achievement of the objectives for individual states in the system through the application of the Lyapunov equation for the system. Each diagonal element in the gain or associated gain …