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Skelly, Margaret Mary. "Hierarchical Reinforcement Learning with Function Approximation for Adaptive Control." Case Western Reserve University School of Graduate Studies / OhioLINK, 2004. http://rave.ohiolink.edu/etdc/view?acc_num=case1081357818.
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Hubbard, Paul J. "Hierarchical supervisory control systems." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0029/NQ64577.pdf.
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Hubbard, Paul J. 1970. "Hierarchical supervisory control systems." Thesis, McGill University, 2000. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=36609.
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This thesis presents two approaches to the hierarchical supervisory control of discrete event systems (DES) modelled as finite deterministic automata.<br>First, a hierarchical control theory based on the aggregation of states is presented that differs from the standard approach to hierarchical supervision which mainly employs formal language methods. A high-level (i.e. aggregated) deterministic automaton model is defined that uses notions of dynamical consistency (DC) in the definition of high-level transitions. A Trace-DC condition is then defined on any given state-space partition which ensures that (i) trajectories in the low-level system are always represented in the high-level system, and (ii) trajectories in the high-level model are realized by trajectories in the low-level system. It is also shown that the Trace-DC condition ensures low-level controllable behaviours (languages) are represented as high-level controllable behaviours.<br>The (Non-Blocking) In-Block-Controllability condition on partitions is then defined that ensures that behaviours that are expressly controllable in the high-level model can be achieved through the control of high-level transitions between blocks combined with local state - feedback controls in each block. A so-called vocalised lifting algorithm is proposed for the construction of Trace-DC partitions. It is shown that this formulation of hierarchical supervision satisfies conditions of hierarchical consistency from the literature on formal language-based hierarchical supervisory control theory.<br>The approach is illustrated with several examples of manufacturing production lines, including a re-entrant transfer line and a line with two sequential queues. An application to the embedded control of home appliances (washing machines) which motivates the approach is summarised.<br>Second, a notion of systems of interacting finite deterministic automata is formulated via a newly proposed multi-agent ( MA) product. The transition relation of the MA product is shown to be the intersection of the transition relations of two associated products, the vector state-dependent synchronous product and the simultaneous product. It is shown also that the language accepted by the MA product is the intersection of the so-called embedded constraint language of each agent.<br>The supervision of one agent by another is then considered and it is shown that the standard finite automata realization for a supervisor can be employed as the model for the supervising agent.<br>A line of research is then initiated on the centralised, decentralised and hierarchical supervision of MA product systems. It is shown that the MA product of behaviours that are individually and independently controllable with respect to each agent forms a controllable behaviour in the MA product system.
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Deshpande, Pranav. "Distributed Supervisory Control of Workflows." [Tampa, Fla.] : University of South Florida, 2003. http://purl.fcla.edu/fcla/etd/SFE0000209.
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Bernstorff, Charlotte von. "Effekte automatischer Unterstützung auf die Prozessüberwachungs- und -führungsleistung von Operateuren." Doctoral thesis, Humboldt-Universität zu Berlin, Mathematisch-Naturwissenschaftliche Fakultät II, 2015. http://dx.doi.org/10.18452/17096.
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Mit der Automatisierung geht stets erneut die Frage nach der Funktionsallokation einher. Diese lässt sich vereinfacht wie folgt formulieren: Welche Aufgaben bzw. Funktionen soll die Automation und welche der Mensch ausführen? Abwendend von traditionellen Ansätzen maximaler Automatisierung und statischer Aufgabenteilungen haben sich heute dynamische Ansätze der Funktionsallokation bzw. kooperativen Automation durchgesetzt, bei denen sich Operateur und Automation die Kontrolle für bestimmte Aufgaben während des Prozesses teilen oder übergeben können. Die Ausgestaltung dieser kooperativen Automation wirft insbesondere zwei Fragen auf: Wer hat (wann wieviel) Kontrolle? Und wer entscheidet darüber? Diese Fragen nach Kontrolle und Autorität bilden die Grundlage für das theoretische und empirische Anliegen dieser Arbeit. Auf Basis einer umfangreichen literaturbasierten Diskussion der Fragen wird ein eigenes Rahmenmodell vorgeschlagen. Dieses erlaubt, anhand der Aspekte Authorität und Kontrolle, konkrete und trennscharfe Kooperationsformen zwischen Operateur und Automation zu beschreiben. Der einfachste Fall einer Zusammenarbeit zwischen Operateur und Automation wird sodann in einer Studie mit 81 Operateuren untersucht. Es interessiert, ob sich die Leistung von Operateuren, welche bei der Prozessüberwachung und -führung optional mit einer automatischen Unterstützung zusammen arbeiten können, im Vergleich zu Operateuren ohne eine solche automatische Unterstützung verbessert. Für bestimmte Leistungsindikatoren können in der Tat höchst positive Effekte der automatischen Unterstützung ermittelt und konkrete Interaktionsmuster der Operateure in der Kooperation mit der automatischen Unterstützung beschrieben werden. Die theoretischen und empirischen Ergebnisse der diesere Arbeit liefern eine Grundlage für differenzierte Bewertungen und somit auch Empfehlungen spezifischer Kooperationsformen, die gerade im Hinblick auf die Ausgestaltung kooperativer Automation noch rar sind.<br>Automation has always been accompanied by the question of function allocation, that is: which tasks and/or functions should be executed by the machine vs. by the human? Today, dynamic function allocation or cooperative automation has become the dominant approach, which allows for a more flexible sharing and trading of control between operator and automation. However, how cooperative automation is put into practice remains mainly an open question. Two central aspects have to be dealt with: Who should execute a certain function, i.e. have control (and when)? And who should decide about it? These questions of control and authority are central to this thesis. Based on an extensive literature review, a theoretical model is proposed. This model allows for a classification of specific forms of control between operator and automation based on authoriy and control. In an empirical study the effect of the most simple form of cooperation is investigated regarding its effect on performance of 81 operators. It is assumed that supervisory control performance of operators benefits from this form of cooperation with automation. Thereby supervisory control performance of operators cooperating with automation is compared to performance of operators who were not provided with such automation, i.e. had to supervise and control fully manually. Results show, that cooperation with automation has a positive effect on certain performance indicators. Also interaction patterns of operators cooperating with automation are investigated in detail. Both, the theoretical and empirical approach in this thesis provide a profound basis which allows for a more sophisticated evaluation and recommendation of forms of cooperation between operator and automation. So far, such recommendations are rare in Human Factors Research but they are desperately needed, especially when it comes to the implementation of forms of cooperative automation.
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Hallal, Hesham H. "Divergence-free supervisory control and applications." Thesis, McGill University, 2000. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=33330.
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A method is presented to solve supervisory control problems of discrete event systems and produce divergence-free controllers, which guarantee to avoid unbounded internal communications. The method is described in terms of process spaces, a formalism to model concurrent systems, and applied to safety models. Semantics mappings are described, which relate process spaces to I/O automata and other labeled transition systems. Divergence-free solutions are obtained based on a strong notion of divergence freedom. Our method, which produces the solution for a supervisory control problem, can also detect the absence of such solution and helps to obtain synthesizable specifications for the solutions as well. Finally, a case study is considered where the supervisory control formulation is used to derive the specification of a divergence-free protocol converter to interface two mismatched communication protocols.
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Marjanovic, Ljiljana. "Supervisory control of naturally ventilated buildings." Thesis, Loughborough University, 2002. https://dspace.lboro.ac.uk/2134/6889.
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In the present climate of energy conservation and CO2 emission consciousness, building heating, ventilating and air conditioning (HVAC) systems are required to achieve thermal comfort and indoor air quality in the most energy efficient manner possible. To this end optimising the use of natural ventilation is considered an area which can significantly reduce both the occupants discomfort and the energy consumption. The ability to effectively control the indoor environment would considerably enhance the use of natural ventilation. The overall aim of this research is to develop, commission and evaluate a fuzzy rule-based controller which can vary the resistance of ventilation opening in order to maintain an acceptable comfort conditions in the occupied space. The design of the fuzzy control system starts by establishing certain quantization levels for the input/output variables along with corresponding membership functions. Aspects of input and output variable choice together with their linguistic labels are explained and presented. Control rules are defined based on the off-line thermal modelling, experimental results and through discussions with experts. A dynamic air flow distribution is investigated through a series of experiments for different environmental conditions and opening levels without any control action. Three rule-bases of different complexity are developed and presented. All solutions are simulated in an input-output space and their differences presented in more detail through examples of the Mamdani inference method application. Controller validation is initially carried out using simulation as this offers the possibility of testing controllers under extreme conditions regardless of test room physical limitations. Simulations are carefully designed to allow simultaneous comparison of different controllers' performances. Then on-line validation is carried out in the test room by measuring the air flow distribution with and without the controller in action. A naturally ventilated test room and its instrumentation is set up. A controller commissioning methodology is established, involving the choice of software and hardware platforms and data acquisition methodology.
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Ashleigh, Melanie Jane. "Trust in human supervisory control domains." Thesis, University of Southampton, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.396184.
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Whetten, Jonathan M. "Using operator teams for supervisory control /." Diss., CLICK HERE for online access, 2010. http://contentdm.lib.byu.edu/ETD/image/etd3297.pdf.
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Whetten, Jonathan M. "Using Operator Teams for Supervisory Control." BYU ScholarsArchive, 2009. https://scholarsarchive.byu.edu/etd/2033.
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Robots and other automated systems have potential use in many different fields. As the scope of robot applications that robots are used for increases, there is a growing desire to have human operators manage multiple robots. Typical methods of enabling operators to multi-task in this way involve some combination of user interfaces that support human cognition and advanced robot autonomy. Our research explores a complementary method of managing multiple robots by utilizing operator teams. The evidence suggests that for appropriate task scenarios, two cooperating operators can be more than twice as effective as one operator working alone.
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Cerofolini, Alberto <1984>. "Optimal Supervisory Control of Hybrid Vehicles." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amsdottorato.unibo.it/6357/1/cerofolini_alberto_tesi.pdf.
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Hybrid vehicles (HV), comprising a conventional ICE-based powertrain and a secondary energy source, to be converted into mechanical power as well, represent a well-established alternative to substantially reduce both fuel consumption and tailpipe emissions of passenger cars.
Several HV architectures are either being studied or already available on market, e.g. Mechanical, Electric, Hydraulic and Pneumatic Hybrid Vehicles. Among the others, Electric (HEV) and Mechanical (HSF-HV) parallel Hybrid configurations are examined throughout this Thesis.
To fully exploit the HVs potential, an optimal choice of the hybrid components to be installed must be properly designed, while an effective Supervisory Control must be adopted to coordinate the way the different power sources are managed and how they interact.
Real-time controllers can be derived starting from the obtained optimal benchmark results. However, the application of these powerful instruments require a simplified and yet reliable and accurate model of the hybrid vehicle system. This can be a complex task, especially when the complexity of the system grows, i.e. a HSF-HV system assessed in this Thesis.
The first task of the following dissertation is to establish the optimal modeling approach for an innovative and promising mechanical hybrid vehicle architecture. It will be shown how the chosen modeling paradigm can affect the goodness and the amount of computational effort of the solution, using an optimization technique based on Dynamic Programming.
The second goal concerns the control of pollutant emissions in a parallel Diesel-HEV. The emissions level obtained under real world driving conditions is substantially higher than the usual result obtained in a homologation cycle. For this reason, an on-line control strategy capable of guaranteeing the respect of the desired emissions level, while minimizing fuel consumption and avoiding excessive battery depletion is the target of the corresponding section of the Thesis.
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Cerofolini, Alberto <1984>. "Optimal Supervisory Control of Hybrid Vehicles." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amsdottorato.unibo.it/6357/.
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Hybrid vehicles (HV), comprising a conventional ICE-based powertrain and a secondary energy source, to be converted into mechanical power as well, represent a well-established alternative to substantially reduce both fuel consumption and tailpipe emissions of passenger cars.
Several HV architectures are either being studied or already available on market, e.g. Mechanical, Electric, Hydraulic and Pneumatic Hybrid Vehicles. Among the others, Electric (HEV) and Mechanical (HSF-HV) parallel Hybrid configurations are examined throughout this Thesis.
To fully exploit the HVs potential, an optimal choice of the hybrid components to be installed must be properly designed, while an effective Supervisory Control must be adopted to coordinate the way the different power sources are managed and how they interact.
Real-time controllers can be derived starting from the obtained optimal benchmark results. However, the application of these powerful instruments require a simplified and yet reliable and accurate model of the hybrid vehicle system. This can be a complex task, especially when the complexity of the system grows, i.e. a HSF-HV system assessed in this Thesis.
The first task of the following dissertation is to establish the optimal modeling approach for an innovative and promising mechanical hybrid vehicle architecture. It will be shown how the chosen modeling paradigm can affect the goodness and the amount of computational effort of the solution, using an optimization technique based on Dynamic Programming.
The second goal concerns the control of pollutant emissions in a parallel Diesel-HEV. The emissions level obtained under real world driving conditions is substantially higher than the usual result obtained in a homologation cycle. For this reason, an on-line control strategy capable of guaranteeing the respect of the desired emissions level, while minimizing fuel consumption and avoiding excessive battery depletion is the target of the corresponding section of the Thesis.
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Wang, Yuwei. "Supervisory control of Boolean discrete-event systems." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0020/MQ53446.pdf.
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Martin, Bailey-Van Kuren Michael. "Automated cell supervisory control for product disassembly." Diss., Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/20158.
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Venugopalan, Vigneshwaran. "Supervisory wireless control for critical industrial applications." Thesis, University of Sheffield, 2014. http://etheses.whiterose.ac.uk/8501/.
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Chen, Yufeng. "Optimal supervisory control of flexible manufacturing systems." Thesis, Paris, CNAM, 2015. http://www.theses.fr/2015CNAM0990/document.
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Notre thèse est consacrée à l’étude de la supervision des réseaux de Petri en vue de la conception de systèmes manufacturiers flexibles. L’objectif est la définition de stratégies de pilotage en ligne pour l’évitement de conflits et d’interblocages, dans le cadre de la théorie de la supervision. Le point de départ de notre travail est d’exploiterle graphe de marquage du réseau de Petri, ce qui permet en particulier d’obtenir des stratégies de commande maximalement permissive pour des problèmes d’évitement de conflits et d’interblocages. Nous avons ainsi introduit des techniques originales, manipulations d’inégalités ou réductions d’ensembles de marquages, destinées à diminuerla complexité algorithmique d’une telle méthode. Dans premier temps, nous avons focalisé sur la synthèse de superviseurs dits purs, ce qui correspond au cas particulier où l’ensemble de marquage légaux, est convexe.Cette optimisation est ensuite considérée du point de vue de la facilité de mise en oeuvre. Nous traitons ainsi de la minimisation de la structure du superviseur et de son coût d’implémentation en préservant une structure de supervision qui offre à la fois la permissivité maximale et une complexité de calcul raisonnable en vue d’utilisationsur des installations réelles. Aussi, nous avons cherché à réduire le nombre de places de contrôle nécessaires pour réaliser un superviseur maximalement permissif, pour cela nous avons formule le calcul du nombre minimal de places de contrôle en termes d’un problème de programmation linéaire. Afin d’affaiblir la complexité de ce calcul de superviseur, deux versions de l’algorithme sont proposées. Ce problème de minimisation de la taille dusuperviseur, quoique fondamental, n’est pas abordé aussi directement dans la littérature. Il s’agit là d’une première contribution.Dans u second temps, nous nous sommes intéressés aux réseaux de Petri à boucles (self-loops). Les boucles étant représentées par une variable qui s’ajoute dans la contrainte inégalité définissant l’ensemble de marquages légaux. Après avoir proposé une méthode de réduction du nombre d’inégalités ainsi que du superviseur optimalen se basant sur les approches et résultats précédents, nous avons établi une condition suffisante d’obtention d’un superviseur maximalement permissif permettant de traiter des ensembles de marquages légaux non convexes.Enfin nous proposons une méthode de synthèse de contrôleur pour une nouvelle classe de réseaux de Petri, avec des arcs inhibiteurs correspondant à des contraintes définies par des intervalles. La taille du contrôleur ainsi obtenu et défini en termes d’arcs inhibiteurs à intervalles s’en trouve réduite ainsi que par conséquent sont coût d’implémentation<br>Reachability graph analysis is an important technique for deadlockcontrol, which always suffers from a state explosion problem since it requires togenerate all or a part of reachable markings.Based on this technique, an optimal or suboptimal supervisor with high behavioralpermissiveness can always be achieved. This thesis focuses on designing liveness enforcing Petri net supervisors for FMSs by considering their behavioralpermissiveness, supervisory structure, and computationnal complexity.The following research contributions are made in this thesis.1. The design of a maximally permissive liveness-enforcing supervisor for an FMSis proposed by solving integer linear programming problems (ILPPs).2. Structural complexity is also an important issue for a maximally permissivePetri net supervisor. A deadlock prevention policy for FMSs is proposed, which canobtain a maximally permissive liveness-enforcing Petri net supervisor while thenumber of control places is compressed.3. In order to overcome the computational complexity problem in MCPP and ensurethat the controlled system is maximally permissive with a simple structure, wedevelop an iterative deadlock prevention policy and a modified version.4. We consider the hardware and software costs in the stage of controlimplementation of a deadlock prevention policy, aiming to obtain a maximallypermissive Petri net supervisor with the lowest implementation cost. A supervisorconsists of a set of control places and the arcs connecting control places totransitions. We assign an implementation cost for each control place and controland observation costs for each transition. Based on reachability graph analysis,maximal permissiveness can be achieved by designing place invariants that prohibitall FBMs but no legal markings.5. Self-loops are used to design maximally permissive supervisors. A self-loop ina Petri net cannot be mathematically represented by its incidence matrix. Wepresent a mathematical method to design a maximally permissive Petri netsupervisor that is expressed by a set of control places with self-loops. A controlplace with a self-loop can be represented by a constraint and a selfloopassociated with a transition whose firing may lead to an illegal marking
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Chen, Yufeng. "Optimal supervisory control of flexible manufacturing systems." Electronic Thesis or Diss., Paris, CNAM, 2015. http://www.theses.fr/2015CNAM0990.
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Notre thèse est consacrée à l’étude de la supervision des réseaux de Petri en vue de la conception de systèmes manufacturiers flexibles. L’objectif est la définition de stratégies de pilotage en ligne pour l’évitement de conflits et d’interblocages, dans le cadre de la théorie de la supervision. Le point de départ de notre travail est d’exploiterle graphe de marquage du réseau de Petri, ce qui permet en particulier d’obtenir des stratégies de commande maximalement permissive pour des problèmes d’évitement de conflits et d’interblocages. Nous avons ainsi introduit des techniques originales, manipulations d’inégalités ou réductions d’ensembles de marquages, destinées à diminuerla complexité algorithmique d’une telle méthode. Dans premier temps, nous avons focalisé sur la synthèse de superviseurs dits purs, ce qui correspond au cas particulier où l’ensemble de marquage légaux, est convexe.Cette optimisation est ensuite considérée du point de vue de la facilité de mise en oeuvre. Nous traitons ainsi de la minimisation de la structure du superviseur et de son coût d’implémentation en préservant une structure de supervision qui offre à la fois la permissivité maximale et une complexité de calcul raisonnable en vue d’utilisationsur des installations réelles. Aussi, nous avons cherché à réduire le nombre de places de contrôle nécessaires pour réaliser un superviseur maximalement permissif, pour cela nous avons formule le calcul du nombre minimal de places de contrôle en termes d’un problème de programmation linéaire. Afin d’affaiblir la complexité de ce calcul de superviseur, deux versions de l’algorithme sont proposées. Ce problème de minimisation de la taille dusuperviseur, quoique fondamental, n’est pas abordé aussi directement dans la littérature. Il s’agit là d’une première contribution.Dans u second temps, nous nous sommes intéressés aux réseaux de Petri à boucles (self-loops). Les boucles étant représentées par une variable qui s’ajoute dans la contrainte inégalité définissant l’ensemble de marquages légaux. Après avoir proposé une méthode de réduction du nombre d’inégalités ainsi que du superviseur optimalen se basant sur les approches et résultats précédents, nous avons établi une condition suffisante d’obtention d’un superviseur maximalement permissif permettant de traiter des ensembles de marquages légaux non convexes.Enfin nous proposons une méthode de synthèse de contrôleur pour une nouvelle classe de réseaux de Petri, avec des arcs inhibiteurs correspondant à des contraintes définies par des intervalles. La taille du contrôleur ainsi obtenu et défini en termes d’arcs inhibiteurs à intervalles s’en trouve réduite ainsi que par conséquent sont coût d’implémentation<br>Reachability graph analysis is an important technique for deadlockcontrol, which always suffers from a state explosion problem since it requires togenerate all or a part of reachable markings.Based on this technique, an optimal or suboptimal supervisor with high behavioralpermissiveness can always be achieved. This thesis focuses on designing liveness enforcing Petri net supervisors for FMSs by considering their behavioralpermissiveness, supervisory structure, and computationnal complexity.The following research contributions are made in this thesis.1. The design of a maximally permissive liveness-enforcing supervisor for an FMSis proposed by solving integer linear programming problems (ILPPs).2. Structural complexity is also an important issue for a maximally permissivePetri net supervisor. A deadlock prevention policy for FMSs is proposed, which canobtain a maximally permissive liveness-enforcing Petri net supervisor while thenumber of control places is compressed.3. In order to overcome the computational complexity problem in MCPP and ensurethat the controlled system is maximally permissive with a simple structure, wedevelop an iterative deadlock prevention policy and a modified version.4. We consider the hardware and software costs in the stage of controlimplementation of a deadlock prevention policy, aiming to obtain a maximallypermissive Petri net supervisor with the lowest implementation cost. A supervisorconsists of a set of control places and the arcs connecting control places totransitions. We assign an implementation cost for each control place and controland observation costs for each transition. Based on reachability graph analysis,maximal permissiveness can be achieved by designing place invariants that prohibitall FBMs but no legal markings.5. Self-loops are used to design maximally permissive supervisors. A self-loop ina Petri net cannot be mathematically represented by its incidence matrix. Wepresent a mathematical method to design a maximally permissive Petri netsupervisor that is expressed by a set of control places with self-loops. A controlplace with a self-loop can be represented by a constraint and a selfloopassociated with a transition whose firing may lead to an illegal marking
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Kean, Thomas Maxwell. "Supervisory computer control of a flexible manufacturing cell." Thesis, University of British Columbia, 1988. http://hdl.handle.net/2429/27892.
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A combined software and hardware package has been developed which coordinates the activities of a Unimation PUMA 560 industrial robot and an ORAC CNC training lathe in a Flexible Manufacturing Cell environment under the supervision of a DEC VAX 11/750 computer. The hardware component is used to provide an intermediate interface between the VAX 11/750 software and the standard manual controls of the ORAC lathe. The interface to the PUMA robot is strictly software oriented and makes use of the Supervisor communication protocol provided by the robot's VAL II controller.
The software package has been designed as a hierarchial, multi-tasking system to facilitate modular development and a logical division of labour. The hierarchy consists of three main levels, with the individual machine controllers providing the lowest level. At the middle layer is a number of subprocesses which execute on the VAX 11/750 and are each responsible for the direct supervision of one machine controller. This supervision involves both sending commands and receiving status messages in the native language of the individual controllers. At the top layer of the hierarchy is a single process which is responsible for the overall coordination of the workcell activities.
Each subtask in the hierarchy communicates with its vertical neighbours through a series of communication protocols and command vocabularies developed for that purpose. Each subtask is also provided with a structured interface to the operator's console. This interface is implemented by a separate VAX process that provides a status window environment for each machine that is active in the cell, but also intercepts text messages and prompts so that they may be displayed to the operator one at a time. Two different software packages have been developed for the top layer of the hierarchy. The ORCAM package is dedicated to the task of automatically manufacturing turned components from a CAD database. The FMC package provides a flexible interface to each of the supported machines and may be used to supervise any number of user-defined tasks.<br>Applied Science, Faculty of<br>Mechanical Engineering, Department of<br>Graduate
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Jones, Patricia Marie. "Human-computer cooperative problem solving in supervisory control." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/25291.
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Abbod, Maysam Fadhel. "Supervisory intelligent control for industrial and medical systems." Thesis, University of Sheffield, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.295758.
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Anderson, David Elliott. "Supervisory control algorithms for telerobotic space structure assembly." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/35941.
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Park, Jong Hyeon. "Supervisory control of robot manipulator for gross motions." Thesis, Massachusetts Institute of Technology, 1991. http://hdl.handle.net/1721.1/101309.
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Boussemart, Yves 1980. "Predictive models of procedural human supervisory control behavior." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/79543.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Engineering Systems Division, 2011.<br>Page 150 blank. Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 138-149).<br>Human supervisory control systems are characterized by the computer-mediated nature of the interactions between one or more operators and a given task. Nuclear power plants, air traffic management and unmanned vehicles operations are examples of such systems. In this context, the role of the operators is typically highly proceduralized due to the time and mission-critical nature of the tasks. Therefore, the ability to continuously monitor operator behavior so as to detect and predict anomalous situations is a critical safeguard for proper system operation. In particular, such models can help support the decision making process of a supervisor of a team of operators by providing alerts when likely anomalous behaviors are detected. By exploiting the operator behavioral patterns which are typically reinforced through standard operating procedures, this thesis proposes a methodology that uses statistical learning techniques in order to detect and predict anomalous operator conditions. More specifically, the proposed methodology relies on hidden Markov models (HMMs) and hidden semi-Markov models (HSMMs) to generate predictive models of unmanned vehicle systems operators. Through the exploration of the resulting HMMs in two distinct single operator scenarios, the methodology presented in this thesis is validated and shown to provide models capable of reliably predicting operator behavior. In addition, the use of HSMMs on the same data scenarios provides the temporal component of the predictions missing from the HMMs. The final step of this work is to examine how the proposed methodology scales to more complex scenarios involving teams of operators. Adopting a holistic team modeling approach, both HMMs and HSMMs are learned based on two team-based data sets. The results show that the HSMMs can provide valuable timing information in the single operator case, whereas HMMs tend to be more robust to increased team complexity. In addition, this thesis discusses the methodological and practical limitations of the proposed approach notably in terms of input data requirements and model complexity. This thesis thus provides theoretical and practical contributions by exploring the validity of using statistical models of operators as the basis for detecting and predicting anomalous conditions.<br>by Yves Boussemart.<br>Ph.D.
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Kaszubowski, Lopes Yuri. "Supervisory control theory for controlling swarm robotics systems." Thesis, University of Sheffield, 2016. http://etheses.whiterose.ac.uk/16765/.
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Swarm robotics systems have the potential to tackle many interesting problems. Their control software is mostly created by ad-hoc development. This makes it hard to deploy swarm robotics systems in real-world scenarios as it is difficult to analyse, maintain, or extend these systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification because the system’s control code is typically generated manually. This thesis studies the application of the supervisory control theory (SCT) framework in swarm robotics systems. SCT is widely applied and well established in the man- ufacturing context. It requires the system and the desired behaviours (specifications) to be defined as formal languages. In this thesis, regular languages are used. Regular languages, in the form of deterministic finite state automata, have already been widely applied for controlling swarm robotics systems, enabling a smooth transition from the ad-hoc development currently in practice. This thesis shows that the control code for swarm robotics systems can be automatically generated from formal specifications. Several case studies are presented that serve as guidance for those who want to learn how to specify swarm behaviours using SCT formally. The thesis provides the tools for the implementation of controllers using formal specifications. Controllers are validated on swarms of up to 600 physical robots through a series of systematic experiments. It is also shown that the same controllers can be automatically ported onto different robotics platforms, as long as they offer the required capabilities. The thesis extends and incorporates techniques to the supervisory control theory framework; specifically, the concepts of global events and the use of probabilistic generators. It can be seen as a step towards making formal methods a standard practice in swarm robotics.
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Shattuck, Lawrence George. "Communication of intent in distributed supervisory control systems." Connect to resource, 1995. http://rave.ohiolink.edu/etdc/view.cgi?acc%5Fnum=osu1261333331.
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Wen, Qin. "Fault-tolerant supervisory control of discrete-event systems." [Ames, Iowa : Iowa State University], 2009.
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Ko, Hee-Sang. "Supervisory voltage control scheme for grid-connected wind farms." Thesis, University of British Columbia, 2006. http://hdl.handle.net/2429/31086.
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Modern variable speed wind turbines utilize power electronic converters for the grid connection requirement and to improve performance. Most commonly used converters enable the wind turbines to maintain the required power factor (power factor control) or voltage (local voltage control) at the terminals. However, in many wind farm applications there is a need to control voltage at a specified remote location, which may require the installation of additional compensating devices (transformer tap changers, switched-capacitors, SVCs, etc.) to meet local power quality conditions. This thesis proposes a supervisory control scheme that uses the individual wind turbines to regulate voltage at the required location, i.e., point of common coupling. The proposed approach considers that each turbine may have somewhat different instantaneous wind speeds and real power outputs, and therefore different amounts of reactive power available for achieving the main control objectives. The operating limits of each turbine are also taken into account to ensure that all power electronic converters operate in the allowable region. Since the proposed supervisory scheme is general and can work with different controllers, we investigate several controllers in this thesis. The problem of control design is formulated as a linear matrix inequality. An innovative cost-guaranteed linear-quadratic-regulator-based controller with an observer is proposed and tuned for a range of operating conditions.
In this thesis, we apply the proposed supervisory voltage control methodology to a candidate wind farm site on Vancouver Island, BC, Canada, made available through collaboration with Powertech Labs Inc. We have developed a detailed model of the system, using three 3.6 MW wind turbines, to carry out the simulation studies. The proposed control solution is compared with traditional approaches and shown to be very effective during load disturbances and faults. The proposed methodology is also flexible and readily applicable to larger wind farms of different configurations.<br>Applied Science, Faculty of<br>Electrical and Computer Engineering, Department of<br>Graduate
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Kalyon, Gabriel. "Supervisory control of infinite state systems under partial observation." Doctoral thesis, Universite Libre de Bruxelles, 2010. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/210032.
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A discrete event system is a system whose state space is given by a discrete set and whose state transition mechanism is event-driven i.e. its state evolution depends only on the occurrence of discrete events over the time. These systems are used in many fields of application (telecommunication networks, aeronautics, aerospace,). The validity of these systems is then an important issue and to ensure it we can use supervisory control methods. These methods consist in imposing a given specification on a system by means of a controller which runs in parallel with the original system and which restricts its behavior. In this thesis, we develop supervisory control methods where the system can have an infinite state space and the controller has a partial observation of the system (this implies that the controller must define its control policy from an imperfect knowledge of the system). Unfortunately, this problem is generally undecidable. To overcome this negative result, we use abstract interpretation techniques which ensure the termination of our algorithms by overapproximating, however, some computations. The aim of this thesis is to provide the most complete contribution it is possible to bring to this topic. Hence, we consider more and more realistic problems. More precisely, we start our work by considering a centralized framework (i.e. the system is controlled by a single controller) and by synthesizing memoryless controllers (i.e. controllers that define their control policy from the current observation received from the system). Next, to obtain better solutions, we consider the synthesis of controllers that record a part or the whole of the execution of the system and use this information to define the control policy. Unfortunately, these methods cannot be used to control an interesting class of systems: the distributed systems. We have then defined methods that allow to control distributed systems with synchronous communications (decentralized and modular methods) and with asynchronous communications (distributed method). Moreover, we have implemented some of our algorithms to experimentally evaluate the quality of the synthesized controllers. / <p><p>Un système à événements discrets est un système dont l'espace d'états est un ensemble discret et dont l'évolution de l'état courant dépend de l'occurrence d'événements discrets à travers le temps. Ces systèmes sont présents dans de nombreux domaines critiques tels les réseaux de communications, l'aéronautique, l'aérospatiale. La validité de ces systèmes est dès lors une question importante et une manière de l'assurer est d'utiliser des méthodes de contrôle supervisé. Ces méthodes associent au système un dispositif, appelé contrôleur, qui s'exécute en parrallèle et qui restreint le comportement du système de manière à empêcher qu'un comportement erroné ne se produise. Dans cette thèse, on s'intéresse au développement de méthodes de contrôle supervisé où le système peut avoir un espace d'états infini et où les contrôleurs ne sont pas toujours capables d'observer parfaitement le système; ce qui implique qu'ils doivent définir leur politique de contrôle à partir d'une connaissance imparfaite du système. Malheureusement, ce problème est généralement indécidable. Pour surmonter cette difficulté, nous utilisons alors des techniques d'interprétation abstraite qui assurent la terminaison de nos algorithmes au prix de certaines sur-approximations dans les calculs. Le but de notre thèse est de fournir la contribution la plus complète possible dans ce domaine et nous considèrons pour cela des problèmes de plus en plus réalistes. Plus précisement, nous avons commencé notre travail en définissant une méthode centralisée où le système est contrôlé par un seul contrôleur qui définit sa politique de contrôle à partir de la dernière information reçue du système. Ensuite, pour obtenir de meilleures solutions, nous avons défini des contrôleurs qui retiennent une partie ou la totalité de l'exécution du système et qui définissent leur politique de contrôle à partir de cette information. Malheureusement, ces méthodes ne peuvent pas être utilisées pour contrôler une classe intéressante de systèmes: les sytèmes distribués. Nous avons alors défini des méthodes permettant de contrôler des systèmes distribués dont les communications sont synchrones (méthodes décentralisées et modulaires) et asynchrones (méthodes distribuées). De plus, nous avons implémenté certains de nos algorithmes pour évaluer expérimentalement la qualité des contrôleurs qu'ils synthétisent.<br>Doctorat en Sciences<br>info:eu-repo/semantics/nonPublished
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Zhang, Zhonghua. "Smart TCT, an efficient algorithm for supervisory control design." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/MQ58804.pdf.
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Du, Xiaohua. "Equipment controller design for resource monitoring and supervisory control." Diss., Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/25715.
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Fidai, Muhammad Hassan. "Implementation of DC Supervisory Control : Optimal Power Flow Calculator." Thesis, KTH, Industriella informations- och styrsystem, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-155824.
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Integration of renewable resources such as remote solar or wind farms and electricpower trading between neighbouring countries lead to new requirements on the development of thetransmission grids. Since AC grid expansion is limited by e.g. legislations issues, High VoltageDirect Current (HVDC) technology with its diverse benets compared to AC is being considered asappropriate alternative solution. The developed HVDC grid can be either embedded inside one ACgrid or connects several AC areas. In both architectures, the separate DC supervisory control can beproposed to control the HVDC grids using the interfacing information from AC Supervisory ControlAnd Data Acquisition (SCADA). The supervisory control is supposed to calculate the optimal power ow (OPF) in order to run the system in the most optimal situation. Based on the architecture, therequired information, boundary of the system and also objective function can vary. The aim of the thesis is to present the ndings of a feasibility study to implement a supervisorycontrol for bipolar Voltage Source Converter (VSC) HVDC grids in possible real time platforms. DCsupervisory control has a network topology manager to identify the grid conguration and employsan OPF calculator based on interior point optimization method to determine the set-point valuesfor all HVDC stations in a grid. OPF calculator takes into account the DC voltage, converter andDC line constraints.ii
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Nehme, Carl 1981. "Modeling human supervisory control in heterogeneous unmanned vehicle systems." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/47787.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2009.<br>Includes bibliographical references (p. 189-195).<br>Given advanced technology that relieves the human operator of low-level tasking and the future vision for network-centric operations, operator supervisory control of Unmanned Vehicle (UV) teams is likely to be a focal point of future research and development. Due to requirements for interoperability among UVs of varying attributes, heterogeneity in vehicle capabilities and tasks is likely to exist in future UV systems. This will lead to a large design space for these systems, which will cause design validation to require lengthy and expensive human-in-the-loop experimentation. This problem is addressed in this thesis through the following: First, identification of human-UV interaction attributes and associated variables that should be captured when modeling supervisory control of heterogeneous UV systems. Second, the derivation of a queuing-based multi-UV discrete event simulation (MUV-DES) model that captures both vehicle-team variables (including team composition and level of autonomy) and operator variables (including attention allocation strategies and situational awareness). The MUV-DES model supports design validation by simulating the impact of alternate designs on vehicle, operator, and system performance. To determine the accuracy and robustness of the MUV-DES model, an Internet-based test bed was developed to support extensive and rapid data collection for supervisory control of multiple heterogeneous UVs. Using data accumulated from online experiments, a multi-stage validation process was applied. The validation process resulted in achieving confidence in the model's accuracy and determination of the model's robustness under different input settings. Following the validation process, the MUV-DES model's ability to aid in the design and assessment of heterogeneous UV teams and related technologies was evaluated.<br>(cont.) More specifically, the MUV-DES model generated design recommendations addressing three underlying research objectives: a) indicating how potential operational/developmental design modifications could lead to performance improvements including 30% reductions in average vehicle wait times, b) identifying potential capabilities and limitations of future designs, including the detrimental impact of service time heterogeneity greater than 40% on average vehicle wait times, and c) replicating observed behavior in an existing system as a means of diagnosing the causes of vehicle-performance inefficiency. A subset of the MUV-DES model design recommendations was then implemented and the predicted benefit was validated using an additional set of experiments.<br>by Carl E. Nehme.<br>Ph.D.
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Al, Badwawi Rashid Said Mohammed. "Supervisory control and power management of an AC microgrid." Thesis, University of Exeter, 2017. http://hdl.handle.net/10871/28641.
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The thesis examines the design and implementation of a supervisory controller for the energy management of an AC stand-alone microgrid. The microgrid under study consists of a photovoltaic (PV), battery energy storage system (BESS) and auxiliary (micro gas turbine) units connected to a common AC bus and supplies a local load. The BESS unit has to maintain the AC bus voltage and frequency and needs to balance the difference between the intermittent PV power and that consumed by the load. However, the BESS has limited energy capacity and power rating and therefore it is important to implement a supervisory controller that can curtail the PV power to prevent the battery from being overcharged and also to operate the auxiliary unit to prevent the battery from being over discharged. A Fuzzy Logic Controller (FLC) that can be implemented inside the BESS unit is proposed. It monitors the battery power and State of Charge (SOC) and varies the bus frequency accordingly. The variation in the bus frequency serves as a communication means to the PV and auxiliary units. If the frequency is increased above the nominal value, the PV unit starts to curtail its power and if the frequency is decreased, the auxiliary unit starts to generate power. Power curtailment and supplement are proportional to the frequency variation. In order to avoid any need for communication links between the units, the DC/AC inverters of all the units adopt the well-known wireless droop technique. The droop control of the auxiliary unit is implemented in such a way that the unit is floating on the bus and thus it generates power only if the bus frequency is decreased below its nominal value. The main merits of the proposed controller are simplicity and easiness of implementation inside the BESS unit. The effectiveness of the controller in protecting the battery from over-charging/over-discharging has been verified by simulations including a real-time simulation and experimentally. Furthermore, the thesis investigates the effect of sudden shading of a PV and concentrated PV (CPV) on the bus frequency of an AC stand-alone microgrid. It is known that the CPV power can drop drastically, compared to traditional PV, when it is exposed to shading. A simulation model of the CPV in a microgrid has been built and the results are compared to those of the traditional PV. It is found that shading of the CPV has much more stronger effect on the bus frequency.
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Yang, Xue Jiao. "Supervisory wide-area control for multi-machine power system." Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/supervisory-widearea-control-for-multimachine-power-system(6c0575f9-7b20-4751-9d67-276aaaa4c7b2).html.
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With the increasing demand for electrical power and the growing need for the restructuring of the power industry, electric power systems have become highly complex with inherent complicated dynamics. Therefore, the study of power system stability has continued to receive significant attention from both academic researchers and industrial practitioners. This thesis focuses on supervisory wide-area control for rotor angle stability of multi-machine power systems using Linear Quadratic Gaussian/Loop Transfer Recovery (LQG/LTR) control theory with guaranteed robustness. The supervisory controllers are developed in both continuous-time and discrete-time framework and their performances and robustness are assessed using both frequency-domain tools, and time-domain simulation results. The impact of the communication time-delays that commonly exist in wide-area power system control on the performance and robustness of the closed-loop system is investigated. In particular, different methods of incorporating such time-delays into the design of the supervisory LQG controller are considered. This thesis proposes a modified supervisory LQG controller that utilizes the Extended Kalman Filter to estimate the unknown/varying time-delays. Simulation results obtained using numerical examples involving non-linear power system models demonstrate the benefits of the proposed scheme for both time-invariant and time-varying delays. The resulting supervisory control scheme is well suited for maintaining power system stability in the presence of communication time-delays.
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Forren, Lynda Michelle Gray. "A comparison of voice-augmented and keyboard control in a supervisory control task." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/29825.
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Skogvold, Morten. "Supervisory-switched Control for Dynamic Positioning Systems in Arctic Areas." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for marin teknikk, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-11616.
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Dynamically positioned vessels may experience rapidly changing environmental loads if the vessels are operating in ice-covered waters. The transition between open water to level ice is an abrupt change from no ice loads to forces up to several hundred kN in only a few seconds. If vessels are to operate in such conditions, there is a need to develop new technologies for dynamic positioning (DP) control systems which takes these varying loads into consideration. The work presented in this master's thesis is aimed towards the subject of supervisory control applied to dynamic positioning systems for arctic areas. A supervisory-switched DP control system, including combined bumpless transfer and anti-windup control scheme adapted for use in a DP control, is developed. A method for estimation of operating regime based on spectral analysis of vessel pitch motion measurements is developed through a simulation study of the vessel motion in level ice. The supervisory control system is tested and compared with an open water DP system in a simulation study where the vessel behavior is simulated in the transition from open water to level ice and vice versa. The simulation study shows that the supervisory-switched control system reduces the deviation from the reference position from 4 meters to 1.5 meters in surge direction when the ice hits the vessel head on. A variation of parameters in the supervisor shows that the ice detection time is dependent on the length of the buffered pitch measurement signal. Shorter buffer length gives rapid adaptation, but the ability to separate different operating regimes is sensitive to the resolution of the spectral analysis, and thus the buffer length should not be too short. A simulation of ice drifting towards the vessel with a relative angle to the vessel shows that the vessel is not capable of keeping the heading when the ice hits the vessel sides and experiences a loss of position. Simulation of a supervisory-switched controller which switches to a weather-optimal positioning control scheme (WOPC) when the ice hits from an angle shows that the vessel is able to solve the problem of ice drifting from an angle by rotating the bow towards the resulting ice loads when the ice sheet hits and thus is able to keep the position.
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Donovan, Ian. "Advances in recycle mill supervisory control at Avenor Thunder Bay." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0024/MQ52051.pdf.
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Mitchell, Paul Jeffrey. "Mitigation of human supervisory control wait times through automation strategies." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32437.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2005.<br>Includes bibliographical references (p. 129-134).<br>The application of network centric operations principles to human supervisory control (HSC) domains means that humans are increasingly being asked to manage multiple simultaneous HSC processes. However, increases in the number of available information sources, volume of information and operational tempo, all which place higher cognitive demands on operators, could become constraints limiting the success of network centric processes. In time-pressured scenarios typical of networked command and control scenarios, efficiently allocating attention between a set of dynamic tasks is crucial for mission success. Inefficient attention allocation leads to system wait times, which could eventually lead to critical events such as missed times on targets and degraded overall mission success. One potential solution to mitigating wait times is the introduction of automated decision support in order to relieve operator workload. However, it is not obvious what automated decision support is appropriate, as higher levels of automation may result in a situation awareness decrement and other problems typically associated with excessive automation such as automation bias. To assess the impact of increasing levels of automation on human and system performance in a time-critical HSC multiple task management context, an experiment was run in which an operator simultaneously managed four highly autonomous unmanned aerial vehicles executing an air tasking order, with the overall goal of destroying a pre-determined set of targets within a limited time period.<br>(cont.) A 4x2(3) repeated measures design was utilized in which the level of decision support provided to operators was a between-subjects factor and level of re-planning, which represents operational tempo, a within-subjects factor. The automated decision support, which took the basic form of a timeline display to aid with scheduling, had four increasing levels: manual, passive, collaborative, and management-by-exception. Level of re-planning refers to how much operators were required to adjust the initial plan in flight, based on unexpected occurrences such as changing deadlines or target sets, and included low and high levels. The passive level of decision support, which provided assistance to the user through color coding and re-organization of scheduling information, was the best overall performer as it had no major drawbacks. Management-by-exception had the best performance across several metrics but had a greater number of catastrophic events occur where a UAV erroneously destroyed a friendly target. The manual level performed better than expected, but had a similarly high critical event rate. Contrary to expectations, the collaborative level of decision support, which provided predictions for possible periods of task overload as well as possible courses of action to relieve the high workload, had the worst performance. This is attributable to an unintended consequence of the automation where the graphical visualization of the computer's predictions caused users to try to globally optimize the schedules for all UAVs instead of locally optimizing schedules in the immediate future, resulting in them being over- whelmed.<br>(cont.) Total system wait time across both experimental factors was dominated by wait time caused by lack of situation awareness, which is difficult to eliminate, implying that there will be a clear upper limit on the number of vehicles that any one person can supervise because of the need to stay cognitively aware of unfolding events.<br>by Paul Jeffrey Mitchell.<br>S.M.
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Haji-Valizadeh, Alireza. "Supervisory control of discrete event dynamical systems with partial observations." Case Western Reserve University School of Graduate Studies / OhioLINK, 1995. http://rave.ohiolink.edu/etdc/view?acc_num=case1061903850.
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Bennett, Patrick Lawrence. "Using the Non-Intrusive Load Monitor for Shipboard Supervisory Control." Thesis, Monterey, California. Naval Postgraduate School, 2007. http://hdl.handle.net/10945/3008.
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CIVINS<br>Field studies have demonstrated that it is possible to evaluate the state of many shipboard systems by analyzing the power drawn by electromechanical actuators. One device that can perform such an analysis is the non-intrusive load monitor (NILM). This thesis investigates the use of the NILM as a supervisory control system in the engineering plant of gas-turbine-powered vessel. Field tests demonstrate that the NILM can potentially reduce overall sensor count if used in a supervisory control system. To demonstrate the NILM's capabilities in supervisory control systems, experiments are being conducted at the U.S. Navy's Land-Based Engineering Site (LBES) in Philadelphia, Pennsylvania. Following a brief description of the LBES facility and the NILM itself, this thesis presents testing procedures and methodology with results obtained during the extensive field studies. This thesis also describes the on-going efforts to further demonstrate and develop the NILM's capabilities in supervisory control systems.<br>CIVINS<br>US Naval Academy (USNA) author.
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Guo, Yisong. "Using Agent-Based Models to Understand Multi-Operator Supervisory Control." BYU ScholarsArchive, 2012. https://scholarsarchive.byu.edu/etd/2970.
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As technology advances, many practical applications require human-controlled robots. For such applications, it is useful to determine the optimal number of robots an operator should control to maximize human efficiency given different situations. One way to achieve this is through computer simulations of team performance. In order to factor in various parameters that may affect team performance, an agent-based model will be used. Agent-based modeling is a computational method that enables a researcher to create, analyze, and experiment with models composed of agents that interact within an environment [12]. We construct an agent-based model of humans interacting with robots, and explore how team performance relates to different agent parameters and team organizational structures [21]. Prior work describes interaction between a single operator and multiple robots, while this work includes multi-operator performance and coordination. Model parameters include neglect time, interaction time, operator slack time, level of robot autonomy, etc. Understanding the parameters that influence team performance will be a step towards finding ways to maximize performance in real life human-robot systems.
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MANZOCCHI, Diego. "Hierarchical supervisory optimal control design approach for industrial sustainable systems." Doctoral thesis, Università degli studi di Bergamo, 2015. http://hdl.handle.net/10446/33697.
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The production landscape is changing. Traditionally, the energy costs represented a small part of the production expenses, meaning that the design of production facilities usually neglected investments in efficient energy usage in favour of more important factors, such as the maximization of production throughput; the energy consumption of factories has been in fact always high, but the cost of energy has increased dramatically in the last decades, pushing the industrial representatives to search for higher level of efficiency. This scenario, however, is changing rapidly. According to the International Energy Agency, manufacturing is responsible for approximately 37% of global primary energy consumption being the largest energy consumer and CO2 producer. Improvement of energy/resource efficiency is the key to reduce environmental impact and is mentioned as driver to reach European 20/20/20 goals. In order to obtain an efficient work and material flow, and achieve such challenging results, an overall optimization of the whole concept of Factory has to be pursued, introducing a new holistic vision of the production environment, with comprehensive interventions acting both at methodological and technological level. During the last decades, pushed by eco-oriented policies and standards, the European manufacturing industries has seen a clear path of introduction of new technologies within the production environment (or on its boundaries) conceived to reduce energy consumption, recycle wastes or filter emissions. However, in the majority of those cases, “production is still the king” and these systems are regarded mainly as a support function whose objective is to provide additional services to the production unit. Within this situation, in spite of the fact that the activity level of these add-in systems is dependent on the production management of the main process, the energy, waste and emissions considerations are rarely included during design phase or in the planning, scheduling and control procedures. Recently, new technologies have done important steps regarding energy efficiency in terms of mechanisms, actuators and sensors. Complementary to this improvements at component level, considerable savings, with minor efforts for a factory, can also be obtained by introducing new adaptive control architectures, as supervisory optimizers of the pre-existing controllers, able to predict the evolution of the system and consequently modify its current behaviour in order to achieve the same production results but with less energy consumed (remark: energy is considered as the main performance criterion to be optimized, but the techniques are clearly independent from that effectively selected).
The main techniques studied and successfully applied in real-case scenarios to perform the adaptive control of a process are usually grouped under the Model Predictive Control (MPC) family, but their implementation in complex, non-linear industrial environments is still limited, and requires the development of ad-hoc engineered solutions. Different implementation of MPC can be found in a wide variety of industrial application areas, including chemicals, food processing, automotive and aerospace with better results than classical control approaches such as a cascade control. Especially, in Iron&Steel industry, can be find application of MPC techniques in the Continuous Emission Monitoring Systems (CEMS or PEMS) (i.e. Pavilion8 by Rockwell-Automation) but almost nothing, for instance, in the Energy Management System (EMS), and in the control of furnaces and related equipment, that represent the most energy intensive elements with respect to the rest of the plant.
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YOU, DAN. "Supervisory Control and Analysis of Partially-observed Discrete Event Systems." Doctoral thesis, Università degli Studi di Cagliari, 2021. http://hdl.handle.net/11584/308984.
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Nowadays, a variety of real-world systems fall into discrete event systems (DES). In practical scenarios, due to facts like limited sensor technique, sensor failure, unstable network and even the intrusion of malicious agents, it might occur that some events are unobservable, multiple events are indistinguishable in observations, and observations of some events are nondeterministic. By considering various practical scenarios, increasing attention in the DES community has been paid to partially-observed DES, which in this thesis refer broadly to those DES with partial and/or unreliable observations.
In this thesis, we focus on two topics of partially-observed DES, namely, supervisory control and analysis.
The first topic includes two research directions in terms of system models. One is the supervisory control of DES with both unobservable and uncontrollable events, focusing on the forbidden state problem; the other is the supervisory control of DES vulnerable to sensor-reading disguising attacks (SD-attacks), which is also interpreted as DES with nondeterministic observations, addressing both the forbidden state problem and the liveness-enforcing problem. Petri nets (PN) are used as a reference formalism in this topic. First, we study the forbidden state problem in the framework of PN with both unobservable and uncontrollable transitions, assuming that unobservable transitions are uncontrollable. For ordinary PN subject to an admissible Generalized Mutual Exclusion Constraint (GMEC), an optimal on-line control policy with polynomial complexity is proposed provided that a particular subnet, called observation subnet, satisfies certain conditions in structure. It is then discussed how to obtain an optimal on-line control policy for PN subject to an arbitrary GMEC. Next, we still consider the forbidden state problem but in PN vulnerable to SD-attacks. Assuming the control specification in terms of a GMEC, we propose three methods to derive on-line control policies. The first two lead to an optimal policy but are computationally inefficient for large-size systems, while the third method computes a policy with timely response even for large-size systems but at the expense of optimality. Finally, we investigate the liveness-enforcing problem still assuming that the system is vulnerable to SD-attacks. In this problem, the plant is modelled as a bounded PN, which allows us to off-line compute a supervisor starting from constructing the reachability graph of the PN. Then, based on repeatedly computing a more restrictive liveness-enforcing supervisor under no attack and constructing a basic supervisor, an off-line method that synthesizes a liveness-enforcing supervisor tolerant to an SD-attack is proposed.
In the second topic, we care about the verification of properties related to system security. Two properties are considered, i.e., fault-predictability and event-based opacity. The former is a property in the literature, characterizing the situation that the occurrence of any fault in a system is predictable, while the latter is a newly proposed property in the thesis, which describes the fact that secret events of a system cannot be revealed to an external observer within their critical horizons. In the case of fault-predictability, DES are modeled by labeled PN. A necessary and sufficient condition for fault-predictability is derived by characterizing the structure of the Predictor Graph. Furthermore, two rules are proposed to reduce the size of a PN, which allow us to analyze the fault-predictability of the original net by verifying that of the reduced net. When studying event-based opacity, we use deterministic finite-state automata as the reference formalism. Considering different scenarios, we propose four notions, namely, K-observation event-opacity, infinite-observation event-opacity, event-opacity and combinational event-opacity. Moreover, verifiers are proposed to analyze these properties.
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Liu, Xiong-Fu. "Fuzzy model-based fault-tolerant supervisory control of air-conditioning systems." Thesis, University of Oxford, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.365359.
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Moghaddam, Davood Karimzadgan. "Place invariant design and implementation of discrete event control systems for manufacturing plant." Thesis, University of Salford, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.244930.
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Lehtinen, Jean Marie. "Toward an understanding of the role functions of the supervisory conference in theological field education." Thesis, University of British Columbia, 1987. http://hdl.handle.net/2429/26865.
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Throughout the history of theological education there have been many articles written about field education and the need for effective supervision, but few works describe research on the role functions of the supervisory conference. Studies have suggested that examining the supervisory process is complex and not easily researched. For accreditation, the Association of Theological Schools requires field education and supervision as an integral part of the Master of Divinity degree. The purpose of this study was to further the understanding of supervision from the perspectives of supervisors and students engaged in the process of theological field education.
An exploratory field research methodology was used. Previous research in theological field education supervision proved inadequate for hypotheses testing. The specific purpose of the study was to search for answers to two questions. First, how do supervisors and students describe the role functions of the supervisory conference? And second, what are the relationships between the role functions of the supervisory conference and conceptual level, constructive openness, orientation to supervision, personality type, age, gender, educational level, and experience?
Interviews of supervisors and students were the source of data for the study. The interviews included asking demographic information, asking the role functions of the supervisory conference, and administering four instruments: the Paragraph Completion Test, the Preactive Behavior Instrument, the Supervisory Beliefs Inventory, and the Myers-Briggs Type Indicator. The role functions were content analyzed and correlated with age, gender, experience, educational level, conceptual level, constructive openness, orientation to supervision, and personality types. Analyses were performed on the aggregated groups of supervisors and students, and on nine individual supervisor/student pairs.
The results of the study indicated general agreement between the field education supervisors and their students in understanding the role functions of the supervisory conference. The mean scores on conceptual level for supervisors and students were not significantly different. Supervisors rated themselves higher in constructive openness than their students. Students estimated their supervisors to be more directive than the supervisors believed themselves to be. The personality types of supervisors and students were similar on the perceiving and judging preferences.
When the data were examined by supervisor/student pairs, a more precise description of the supervisory interaction became apparent. For example, the effects of different conceptual levels and personality types became evident in the supervisory relationship. This finding suggests that future research in supervision should use individual pairs instead of aggregated groups.
Two important role function themes mentioned least often by students were "relating of religious traditions and values to the human and social needs which have been identified in the ministry placement" and the "linking of theology with the practice of ministry." These two themes represent key strategies for those preparing for future ministry, and should play an integral part in field education. This study has raised several questions for future research: Is the supervisor the key element in the learning of the student? Or is the context of field education the key to learning? What does the student learn from the supervisory conference and the field placement? And finally, is the articulation of the supervisor's own theology and experience an essential component in the supervisory process, and therefore, a component in supervisor training programs?<br>Education, Faculty of<br>Educational Studies (EDST), Department of<br>Graduate
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Sharif, Curtis Shahid. "Development of a supervisory surrogate controller for a robotic workcell." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17830.
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Ozen, Turhan. "Supervisory control of rolling mills : the optimisation of soaking pit schedules." Thesis, University of Leicester, 2002. http://hdl.handle.net/2381/30201.
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The work presented in this thesis is the result of research that aims to enhance the supervisory (level II) control system used at Alcoa Europe FRP and supplied by VAI UK. There are opportunities for improvement in three main areas: improved product shape, especially at low gauges fault diagnosis of product quality, to improve yield optimisation of soaking pits/rolling mill process, to increase throughput and improve efficient use of plant resources. The first part of this thesis focuses on the Expert System developed to augment the existing system for improved supervisory control. The Expert System focuses on utilising human knowledge, whilst the existing system provides the infrastructure for the overall system. The second part of the thesis explains the scheduling system developed to manage the operations of the soaking pits upstream of the rolling mill in order to gain maximum throughput from the overall process and to use the plant resources efficiently.
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Smith, Adam. "Level of Automation Effects on Situation Awareness and Functional Specificity in Automation Reliance." Thesis, 2012. http://hdl.handle.net/1807/32491.
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This thesis investigates the relationships between performance, workload, and situation awareness at varying levels of automation. The relationships observed in this study are compared to a description put forth to formalize the conventional interpretation of the trade-off between the benefits of automation during routine operation and the costs under conditions of automation failure. The original work stipulated that this “routine-failure trade-off” is likely a simplification affected by contextual factors. This work therefore aimed to i) provide empirical evidence to support or refute the trade-off and ii) to identify possible extenuating factors. The results generally supported the routine-failure trade-off, and considered in light of the functional structure of the task suggested that the relationships between goals and individual functions specific to a given task seem to affect the overall costs and benefits of automation through the mechanism of selective reliance. Further work is required to validate the findings of this study.
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Tousi, Mani Mesgarpour. "Supervisory control of switching control systems." Thesis, 2006. http://spectrum.library.concordia.ca/8888/1/MR14271.pdf.
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In this thesis, we show that the problem of designing a switching policy for an adaptive switching control system can be formulated as a problem of Supervisory Control of a Discrete-Event System (DES). Two important problems in switching control are then addressed using the DES formulation and the theory of supervisory control under partial observation. First we examine whether for a given set of controllers, a switching policy satisfying a given set of constraints (on the transitions among controllers) exists. If so, then we design a minimally restrictive switching policy. Next, we introduce an iterative algorithm for finding a minimal set of controllers for which a switching policy satisfying the switching constraints exists. In our study we show that in the supervisory control problem considered in this thesis, limitation on event observation is the factor that essentially restricts supervisory control. In other words, once observation limitations are respected, limitation on control will be automatically satisfied. We use the above result to simplify our iterative algorithm for finding minimal controller set.