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1
Troendly, Gregory M., Sheng S. Chen, William G. Nickum, and Michael L. Forman. "Embedded Parallel Processing for Ground System Process Control." International Foundation for Telemetering, 1995. http://hdl.handle.net/10150/611599.
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International Telemetering Conference Proceedings / October 30-November 02, 1995 / Riviera Hotel, Las Vegas, Nevada<br>Embedded parallel processing provides unique advantages over sequential and symmetrical processing architectures. During the past decade, the architecture of ground control systems has evolved from utilizing sequential embedded processors to modular parallel, distributed, and/or symmetrical processing. The concept of utilizing embedded parallel processing exhibits key features such as modularity, flexibility, scalability, host independence, non-contention of host resources, and no requirement for an operating system. These key features provide the performance, reliability and efficiency while at the same time lowering costs. Proper utilization of embedded parallel processing on a host computer can provide fault tolerance and can greatly reduce the costs and the requirement of utilizing high-end workstations to perform the same level of real-time processing and computationally intensive tasks.
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Chen, Qi. "Studies in autonomous ground vehicle control systems structure and algorithms /." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1165959992.
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Horan, Stephen. "Using Labview to Design a Payload Control System." International Foundation for Telemetering, 2008. http://hdl.handle.net/10150/606179.
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ITC/USA 2008 Conference Proceedings / The Forty-Fourth Annual International Telemetering Conference and Technical Exhibition / October 27-30, 2008 / Town and Country Resort & Convention Center, San Diego, California<br>As part of a project to develop small satellites, we have developed a combined ground station and flight computer control software package using LabVIEW. These computer systems are used to acquire data from sensors, control communications links, provide automatic data acquisition capabilities, and provide a user interface. In this paper, we will look at the state machines that describe both sets of software, the challenges for the flight computer development given the PC/104 format, and show how the final product was deployed.
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Wang, Quanxi. "Integrated stability mapping system for mines." Morgantown, W. Va. : [West Virginia University Libraries], 2005. https://eidr.wvu.edu/etd/documentdata.eTD?documentid=4287.
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Thesis (Ph. D.)--West Virginia University, 2005.<br>Title from document title page. Document formatted into pages; contains ix, 145 p. : ill. (some col.), maps (some col.). Vita. Includes abstract. Includes bibliographical references (p. 118-122).
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Pilbeam, Ciaron. "Slow-active and passive control of automative suspension system vibrations." Thesis, Cranfield University, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.282407.
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Horan, Stephen, Ryan Aaronscooke, and Daniel Jaramillo. "IP-Based Networking as Part of the Design of a Payload Control System." International Foundation for Telemetering, 2008. http://hdl.handle.net/10150/606180.
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ITC/USA 2008 Conference Proceedings / The Forty-Fourth Annual International Telemetering Conference and Technical Exhibition / October 27-30, 2008 / Town and Country Resort & Convention Center, San Diego, California<br>As part of a project to develop small satellites, we have developed a combined ground station and flight computer that use IP-based networking for the command and telemetry data communications. The network uses a private IP network between the payload and the ground-station. Commands are sent to the payload as UDP short message packets. Status and real-time telemetry are sent as UDP text strings. Production data are sent as files using a ftp-type of data exchange. Production data types include numeric data (sensor data) and JPEG-formatted picture data (full pictures and thumbnails). Details of the software used, challenges of making the system work over a low-quality radio link, and integration with the operating system will be discussed.
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Kirsch, Patricia Jean. "Autonomous swarms of unmanned vehicles software control system and ground vehicle testing /." College Park, Md. : University of Maryland, 2005. http://hdl.handle.net/1903/2993.
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Thesis (M.S.) -- University of Maryland, College Park, 2005.<br>Thesis research directed by: Dept. of Electrical and Computer Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
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Richard, Gaetan C., and Brian Donlin. "A NEW MOBILE TELEMETRY STATION FOR TESTING AIR-TO-GROUND WEAPONS." International Foundation for Telemetering, 1996. http://hdl.handle.net/10150/608379.
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International Telemetering Conference Proceedings / October 28-31, 1996 / Town and Country Hotel and Convention Center, San Diego, California<br>This paper describes a new mobile self contained telemetry station designed for field
testing of air-to-ground weapons. The telemetry station makes creative use of existing
equipment and incorporates a unique dual axis tracking system to provide complete
coverage of most missions.
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Huang, Xiaoyu. "Real-Time Parameter Estimations and Control System Designs for Lightweight Electric Ground Vehicles." The Ohio State University, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=osu1403261078.
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Saleh, Diana. "Interaction Design for Remote Control of Military Unmanned Ground Vehicles." Thesis, Linköpings universitet, Interaktiva och kognitiva system, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-174074.
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The fast technology development for military unmanned ground vehicles (UGVs) has led to a considerable demand to explore the soldier’s role in an interactive UGV system. This thesis explores how to design interactive systems for UGVs for infantry soldiers in the Swedish Armed Force. This was done through a user-centered design approach in three steps; (1) identifying the design drivers of the targeted military context through qualitative observations and user interviews, (2) using the design drivers to investigate concepts for controlling the UGV, and (3) create and evaluate a prototype of an interactive UGV system design. Results from interviews indicated that design drivers depend on the physical and psychological context of the intended soldiers. In addition, exploring the different concepts showed that early conceptual designs helped the user express their needs of a non-existing system. Furthermore, the results indicate that an interactive UGV system does not necessarily need to be at the highest level of autonomy in order to be useful for the soldiers on the field. The final prototype of an interactive UGV system was evaluated using a demonstration video, a Technology Acceptance Model (TAM), and semi-structured user interviews. Results from this evaluation suggested that the soldiers see the potential usefulness of an interactive UGV system but are not entirely convinced. In conclusion, this thesis argues that in order to design an interactive UGV system, the most critical aspect is the soldiers’ acceptance of the new system. Moreover, for soldiers to accept the concept of military UGVs, it is necessary to understand the context of use and the needs of the soldiers. This is done by involving the soldiers already in the conceptual design process and then throughout the development phases.
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Neto, Alvaro Costa. "Application of multibody system (MBS) techniques to automotive vehicle chassis simulation for motion control studies." Thesis, University of Warwick, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.357279.
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Hacinecipoglu, Akif. "Development Of Electrical And Control System Of An Unmanned Ground Vehicle For Force Feedback Teleoperation." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614807/index.pdf.
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Teleoperation of an unmanned vehicle is a challenging task for human operators especially when the vehicle is out of line of sight. Improperly designed and applied display interfaces directly affect the operation performance negatively and even can result in catastrophic failures. If these teleoperation missions are human-critical then it becomes more important to improve the operator performance by decreasing workload, managing stress and improving situational awareness. This research aims to develop electrical and control system of an unmanned ground vehicle (UGV) using an All-Terrain Vehicle (ATV) and validate the development with investigation of the effects of force feedback devices on the teleoperation performance. After development, teleoperation tests are performed to verify that force feedback generated from the dynamic obstacle information of the environment improves teleoperation performance. Results confirm this statement and the developed UGV is verified for future research studies. Development of UGV, algorithms and real system tests are included in this thesis.
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Clemmensen, John Scott Jr. "Design of a Control System for Multiple Autonomous Ground Vehicles to Achieve a Self Deployable Security Perimeter." Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/34165.
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Due to the limitations of GPS in areas where line of sight to the sky is obstructed the development of a GPS-free algorithm for relative formation
control is an asset to collaborative vehicles. This paper presents a novel approach based on the Received Signal Strength Indication (RSSI) measurement between broadcast and receive nodes to calculate distance and using the data transfer capability to allow each vehicle to develop a table of relative positions. These relative positions are used to create a potential
field that results in an absolute minimum at the vehicles desired position. All vehicles are numbered sequentially. The numbering defines the order in which they will broadcast their data, as well as their position along the perimeter. This thesis looks at two control methods for achieving a formation. The first is the circular motion method that puts perimeter nodes in an orbit around around the perimeter center. The second is a gradient descent method that calculates the gradient of the potential field. Both methods achieve a formation when all perimeter nodes are at their absolute minimums in the potential field. Tests were conducted to analyze RSSI measurements using the 802.15.4 protocol, and a mathematical simulation was conducted for each control algorithm.<br>Master of Science
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Kolansky, Jeremy Joseph. "Real-Time Ground Vehicle Parameter Estimation and System Identification for Improved Stability Controllers." Diss., Virginia Tech, 2014. http://hdl.handle.net/10919/47351.
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Vehicle characteristics have a significant impact on handling, stability, and rollover propensity. This research is dedicated to furthering the research in and modeling of vehicle dynamics and parameter estimation.
Parameter estimation is a challenging problem. Many different elements play into the stability of a parameter estimation algorithm. The primary trade-off is robustness for accuracy. Lyapunov estimation techniques, for instance, guarantee stability but do not guarantee parameter accuracy. The ability to observe the states of the system, whether by sensors or observers is a key problem. This research significantly improves the Generalized Polynomial Chaos Extended Kalman Filter (gPC-EKF) for state-space systems. Here it is also expanded to parameter regression, where it shows excellent capabilities for estimating parameters in linear regression problems.
The modeling of ground vehicles has many challenges. Compounding the problems in the parameter estimation methods, the modeling of ground vehicles is very complex and contains many difficulties. Full multibody dynamics models may be able to accurately represent most of the dynamics of the suspension and vehicle body, but the computational time and required knowledge is too significant for real-time and realistic implementation. The literature is filled with different models to represent the dynamics of the ground vehicle, but these models were primarily designed for controller use or to simplify the understanding of the vehicle’s dynamics, and are not suitable for parameter estimation.
A model is devised that can be utilized for the parameter estimation. The parameters in the model are updated through the aforementioned gPC-EKF method as applies to polynomial systems. The mass and the horizontal center of gravity (CG) position of the vehicle are estimated to high accuracy.
The culmination of this work is the estimation of the normal forces at the tire contact patch. These forces are estimated through a mapping of the suspension kinematics in conjunction with the previously estimated vehicle parameters. A proof of concept study is shown, where the system is mapped and the forces are recreated and verified for several different scenarios and for changing vehicle mass.<br>Ph. D.
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Wang, Shiwei. "Motion Control for Intelligent Ground Vehicles Based on the Selection of Paths Using Fuzzy Inference." Digital WPI, 2014. https://digitalcommons.wpi.edu/etd-theses/725.
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In this paper I describe a motion planning technique for intelligent ground vehicles. The technique is an implementation of a path selection algorithm based on fuzzy inference. The approach extends on the motion planning algorithm known as driving with tentacles. The selection of the tentacle (a drivable path) to follow relies on the calculation of a weighted cost function for each tentacle in the current speed set, and depends on variables such as the distance to the desired position, speed, and the closeness of a tentacle to any obstacles. A Matlab simulation and the practical implementation of the fuzzy inference rule on a Clearpath Husky robot within the Robot Operating System (ROS) framework are provided.
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Jones, Tristan H. "Development of a high-resolution target movement monitoring system for convergence monitoring in mines." Diss., Rolla, Mo. : Missouri University of Science and Technology, 2008. http://scholarsmine.mst.edu/thesis/pdf/Jones_09007dcc804d4863.pdf.
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Thesis (Ph. D.)--Missouri University of Science and Technology, 2008.<br>Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed May 6, 2008) Includes bibliographical references (p. 229-235).
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Mousavinejad, Seyed Eman. "Advanced Terminal Sliding Mode Control Approach to Integrated Steer-by-Wire and Differential Braking of Ground Vehicles." Thesis, Griffith University, 2016. http://hdl.handle.net/10072/367350.
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Advances in electronic technology have had a profound impact on the design and development of modern vehicle systems. These advances have provided the basis for a research into active vehicle control paradigm with the aim of improving vehicle safety and its dynamic performance.
The vehicle stability control (VSC) concept has recently been born in response to such a research challenge. Its refinement is looking for an algorithm able of integrating vehicle dynamics control (IVDC) by way of coordinating the active front steering (AFS) system and direct yaw-moment control (DYC) system. Thus, when the vehicle is in the normal driving situation, the AFS system is involved for handling enhancement; however, as the vehicle reaches the handling limits, both the AFS and DYC systems are integrated to ensure the vehicle stability.
Recent research into VSC has indicated that the IVDC concept may be able to enhance the handling and stability of ground vehicle by controlling the main two control objectives, yaw rate and body sideslip angle, effectively in severe cornering manoeuvres and the steady-state condition, and several control strategies have been investigated to design an IVDC system. However, most of these control methods have not been focused on improving the transient response for vehicle yaw rate and sideslip angle tracking controllers in the presence of vehicle dynamics uncertainties and external disturbance. Therefore, further improvement of the transient response for the tracking controllers is still the most needed research topics.<br>Thesis (Masters)<br>Master of Philosophy (MPhil)<br>Griffith School of Engineering<br>Full Text
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Luo, JunLu. "A New Rock Bolt Design Criterion and Knowlwdge-based Expert System for Stratified Roof." Diss., Virginia Tech, 1999. http://hdl.handle.net/10919/28512.
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Since its development in the 1920s, bolting has become the most dominant support method in underground construction. However, because of the geological environment, the design process for roof bolt systems is an art rather than a science. To quantify the selection of bolting systems a MSBT (minimum solid beam thickness) approach was developed. The ultimate goal of this bolt design paradigm was achieved by optimizing bolt length, bolt density, and bolt pretension during installation. The impact of the number of strata layers within bolting range and pretension applied to bolts upon the stability of an opening was investigated using FLAC model. Four statistical models for predicting optimum bolt supports using a minimum solid beam thickness were established, and based on these results, a design criterion was proposed.
To meet support needs in various geological and geotechnical settings, a variety of bolt types have been developed. The installation of such bolt-based support systems is often complex and specialized, and thus imposes a challenge for engineers to identify the specific cause and to take appropriate remedial measures once problems arise. To solve these problems, a knowledge-based expert system (KBES) has been developed. The knowledge base includes the data accumulated from years of laboratory and field investigations conducted by the Mine Safety and Health Administration of the US Department of Labor. A user-friendly Windows-based program was implemented using KAPPA environment. After identifying the problem, the KBES searches its knowledge base and reasons out the most likely, secondary, and other potential causes, then provides solutions according to users' input.
The results of this research are validated and demonstrated using case studies.<br>Ph. D.
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Sharma, Rajnikant. "Bearing-Only Cooperative-Localization and Path-Planning of Ground and Aerial Robots." BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2884.
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In this dissertation, we focus on two fundamental problems related to the navigation of ground robots and small Unmanned Aerial Vehicle (UAVs): cooperative localization and path planning. The theme running through in all of the work is the use of bearing only sensors, with a focus on monocular video cameras mounted on ground robots and UAVs. To begin with, we derive the conditions for the complete observability of the bearing-only cooperative localization problem. The key element of this analysis is the Relative Position Measurement Graph (RPMG). The nodes of an RPMG represent vehicle states and the edges represent bearing measurements between nodes. We show that graph theoretic properties like the connectivity and the existence of a path between two nodes can be used to explain the observability of the system. We obtain the maximum rank of the observability matrix without global information and derive conditions under which the maximum rank can be achieved. Furthermore, we show that for the complete observability, all of the nodes in the graph must have a path to at least two different landmarks of known location. The complete observability can also be obtained without landmarks if the RPMG is connected and at least one of the robots has a sensor which can measure its global pose, for example a GPS receiver. We validate these conditions by simulation and experimental results. The theoretical conditions to attain complete observability in a localization system is an important step towards reliable and efficient design of localization and path planning algorithms. With such conditions, a designer does not need to resort to exhaustive simulations and/or experimentation to verify whether a given selection of a control strategy, topology of the sensor network, and sensor measurements meets the observability requirements of the system. In turn, this leads to decreased requirements of time, cost, and effort for designing a localization algorithms. We use these observability conditions to develop a technique, for camera equipped UAVs, to cooperatively geo-localize a ground target in an urban terrain. We show that the bearing-only cooperative geo-localization technique overcomes the limitation of requiring a low-flying UAV to maintain line-of-sight while flying high enough to maintain GPS lock. We design a distributed path planning algorithm using receding horizon control that improves the localization accuracy of the target and of all of the UAVs while satisfying the observability conditions. Next, we use the observability analysis to explicitly design an active local path planning algorithm for UAVs. The algorithm minimizes the uncertainties in the time-to-collision (TTC) and bearing estimates while simultaneously avoiding obstacles. Using observability analysis we show that maximizing the observability and collision avoidance are complementary tasks. We provide sufficient conditions of the environment which maximizes the chances obstacle avoidance and UAV reaching the goal. Finally, we develop a reactive path planner for UAVs using sliding mode control such that it does not require range from the obstacle, and uses bearing to obstacle to avoid cylindrical obstacles and follow straight and curved walls. The reactive guidance strategy is fast, computationally inexpensive, and guarantees collision avoidance.
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Anderson, Mike, Peter Militch, and Hugh Pickens. "AN AUTONOMOUS SATELLITE TRACKING STATION." International Foundation for Telemetering, 1999. http://hdl.handle.net/10150/607307.
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International Telemetering Conference Proceedings / October 25-28, 1999 / Riviera Hotel and Convention Center, Las Vegas, Nevada<br>In 1998, AlliedSignal Technical Services (ATSC) installed three fully autonomous 13-meter satellite tracking systems for the Integrated Program Office of the National Oceanic
and Atmospheric Administration (NOAA) at the Command and Data Acquisition Station
near Fairbanks, Alaska. These systems track and command NOAA Polar Orbiting Weather
Satellites and Defense Meteorological Satellites.
Each tracking system operates for extended periods of time with little intervention other
than periodic scheduling contacts. Schedule execution initiates equipment configuration,
including establishing the RF communications link to the satellite. Station autonomy is
achieved through use of a robust scheduler that permits remote users and the System Administrator
to request pass activities for any of the supported missions. Spacecraft in the
mission set are scheduled for normal operations according to the priority they have been
assigned. Once the scheduler resolves conflicts, it builds a human-readable control script
that executes all required support activities. Pass adds or deletes generate new schedule
scripts and can be performed in seconds.
The systems can be configured to support CCSDS and TDM telemetry processing, but the
units installed at Fairbanks required only telemetry and command through-put capabilities.
Received telemetry data is buffered on disk-storage for immediate, post-pass playback,
and also on tape for long-term archiving purposes. The system can autonomously support
up to 20 spacecraft with 5 different configuration setups each. L-Band, S-Band and X-Band
frequencies are supported.
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Vernier, Michael Anthony. "Virtual Sensor System: Merging the Real World with a Simulation Environment." The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1282138118.
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Denker, Richard. "Dimensioning and control for heat pump systems using a combination of vertical and horizontal ground-coupled heat exchangers." Thesis, Karlstads universitet, Institutionen för ingenjörsvetenskap och fysik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-36475.
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A model has been developed which simulates a system consisting of a horizontal and vertical ground-coupled heat exchanger connected in parallel to the same heat pump. The model was used in computer simulations to investigate how the annual minimum and mean fluid temperatures at the heat pump varied as several parameters of the combined system were changed. A comparison was also made between different control settings for fluid flow rate distribution between the two exchangers. For the case when the flow rate distribution was not controlled, the effect of viscosity differences between a colder and warmer exchanger was investigated. The short term effects of letting the vertical heat source rest during the warm summer months was then tested. Lastly, the results of the model was compared to a simple 'rule of thumb' that have been used in the industry for this kind of combined system. The results show that using a combined system might not always result in increased performance, if the previously existing exchanger is a vertical ground-coupled heat exchanger. The effects of viscosity differences on the flow distribution seems to be negligible, especially for high net flows. Controlling the fluid flow rates seems to only be worth the effort if the the pipe lengths of the two combined exchangers differ heavily. Letting the vertical ground-coupled heat exchanger rest during summer was shown to in some cases yield an increased short-term performance in addition to the already known positive long term effects. The rule of thumb was shown to recommend smaller dimensions for combination systems than the more realistic analytical model.
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Mitrovic, Predrag Stanimir. "Global Positioning System based runway instrumentation system." Ohio : Ohio University, 2001. http://www.ohiolink.edu/etd/view.cgi?ohiou1173987759.
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Williams, Denise F., and Ralph I. Ebener. "An evaluation and comparison of the Army's acquisition plans for two tactical command control and communications systems: mobile subscriber equipment and single channel ground and airborne radio system." Thesis, Monterey, California. Naval Postgraduate School, 1990. http://hdl.handle.net/10945/30667.
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Approved for public release, distribution unlimited<br>This thesis evaluates the Acquisition Plans of two US Army Command, Control and Communications (C3) systems: Mobile Subscriber Equipment (MSE) and the Single Channel Ground and Airborne Radio System (SINCGARS), both of which are components of the Army Tactical Command and Control System (ATCCS). The study examines the defense acquisition process through the comparison of the Acquisition Plans and lessons learned for these two programs, and determines if there is an optimal strategy for the Army to use when acquiring tactical C3 systems. An analysis of the strengths and weaknesses of the two Acquisition Plans, and an evaluation of the similarities and differences of two programs, concludes that the MSE Acquisition Plan proved more successful than its SINCGARS counterparts because of its Non-Developmental Item approach. This study recommends maximum use of the NDI strategy for acquiring C3 systems whenever possible
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Wilder, Amanda Jean. "Evaluation of a novel commercial ground beef production system using a chlorinated nanobubble antimicrobial technology to control Shiga toxin-producing Escherichia coli and Salmonella spp. surrogates." Thesis, Kansas State University, 2016. http://hdl.handle.net/2097/34534.
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Master of Science<br>Food Science Institute - Animal Sciences and Industry<br>Randall K. Phebus<br>A variety of antimicrobial processes are used to reduce pathogen risks on commercially processed raw beef. Little research has evaluated chlorinated water on beef tissues, especially in a processing water dip scenario. Interest in nanobubble technology has increased due to its proposed surfactant properties, but it is undetermined whether this improves antimicrobial effectiveness of chlorine-based solutions in food applications. Benchtop studies were conducted to evaluate chlorinated nanobubble waters (0 to 11.94 ppm) against Shiga toxin-producing Escherichia coli O26, O45, O103, O111, O121, O145, and O157:H7 (STEC-7), Salmonella spp., and USDA-approved non-pathogenic STEC surrogates 1) in pure culture with the goal of characterizing the lethality contributions of pH (5 or 7), temperature, free available chlorine level (FAC), inclusion of nanobubbles, or a combination thereof; 2) in select chlorinated nanobubble “red water” (water containing 0.1% beef purge) solutions; and 3) on the surface of lean and fat beef tissue. In pure culture solutions, surrogates demonstrated greater resistance (P ≤ 0.05) to chlorinated solutions (3.4-5.5 log CFU/mL reductions) with increased reductions at the higher (11.94 ppm) FAC levels. STEC-7 and Salmonella population reductions were also notably reduced (3.3-7.1 log CFU/mL) by the higher FAC concentrations. No definitive impacts of temperature, nanobubble inclusion, or acidic pH were observed. At an average 5.23 ppm FAC in red water, all microbial populations were reduced by > 6 log CFU/mL after 60 minutes. Reductions of target organisms on inoculated lean and fat tissues were ≤ 1 log CFU/g in red water; likely due to the inability to maintain FAC levels above 0.7 ppm in the presence of organic loading. An in-plant antimicrobial validation study of a proprietary raw beef manufacturing process was conducted to determine the effectiveness of a recirculating acidic nanobubble water system, chlorinated to 5 ppm FAC using EO water generated concentrate, against the USDA-approved STEC surrogates. Preliminarily, inoculated beef trim was introduced into the system targeting 5 ppm FAC; chlorine concentrate reinfusion rates were determined to establish applicable operational parameters and sampling strategies for the system. An optimized in-plant study was conducted. Meat inoculated at ~ 7 log CFU/g was introduced into the recirculating chlorinated nanobubble system every other day over 6 days, achieving an average 1.6 log CFU/g surrogate reduction on inoculated meat throughout the manufacturing process. Approximately 2.7 log CFU/g of residual surrogates were recovered on non-inoculated meat ~35 minutes after inoculated meat entered the system, indicating that harborage of microbial contamination on processing equipment can lead to subsequent contamination carry-over that must be controlled during processing. Surrogate organisms were recovered by enrichment only from non-inoculated meat 24 h after inoculated meat processing on alternate days, likely stemming from inadequately sanitized processing equipment after inoculated batch processing. Control of the residual surrogate population in the system following inoculation was accomplished through daily equipment sanitation and boosting recirculated processing water to 50 ppm during a 4-h sanitation period (no beef entering system). The optimized study will be used as an antimicrobial process validation against STEC and Salmonella spp. in beef manufacturing.
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Abbasi, Behrooz. "A Numerical Analysis of Mine Intersections and Support Systems for Stability." OpenSIUC, 2010. https://opensiuc.lib.siu.edu/theses/390.
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AN ABSTRACT OF THE THESIS OF Behrooz Abbasi, for the Master of Science Degree in Mining and Mineral Resources Engineering, at Southern Illinois University Carbondale TITLE: A NUMERICAL ANALYSIS OF MINE INTERSECTIONS AND SUPPORT SYSTEMS FOR STABILITY MAJOR PROFESSOR: Dr. Yoginder P. Chugh Back ground: Partial extraction room-and-pillar mining systems provide about 60 % of the underground coal mined in the USA. This mining system develops 3-way and 4-way intersections. Rock falls related to fatal and nonfatal injuries in the USA for the period 2002 to 2007 identified that about 70% of these falls occur at intersections even though they represent only about 20-25 % of the area mined. A recent study on 2004 to 2008 roof-falls data base (RFDB) for Illinois mines, found that over 80% of these falls occurred at intersections. Thus, there is a significant need to improve stability of coal mine intersections if fatal and nonfatal injuries are to be controlled. The overall goal of this research is to develop an improved scientific understanding of stress distribution and instability around a 4-way intersection. An additional goal is to evaluate primary and secondary support layouts for improved stability around 4-way intersections. The following specific tasks were established for this research. * Perform 3-D numerical analyses to develop a better understanding of stress, strain and displacement distributions and associated instabilities around a 4-way intersection to identify ground support requirements. * Identify primary and secondary supports systems that may be suited to meet ground support requirements in (1) above. * Perform numerical analyses with identified primary and secondary supports installed to assess improvements in stability around an intersection. Analyses results show that pillar ribs across an intersection fail first and lead to progressive failure of immediate roof layers. The failure of immediate roof layers extends about 1.8m. In detail, coal ribs around the intersection corners mostly fail due to tensile stress, while roof and floor strata fail due to shear stresses and rib center fail due to combination of shear and tension mechanism. Primary supports significantly improve stability, but they are not adequate to ensure stability of four-way intersections. Secondary supports are needed to further improve stability of intersections. Also, based on the failure analysis a new secondary support system plan was proposed and analyzed.
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Jones, Andy. "Component-led integrative optimisation methodology for avionic thermal management." Thesis, Loughborough University, 2017. https://dspace.lboro.ac.uk/2134/24785.
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The modern military aircraft can be defined as a System of Systems (SoS); several distinct systems operating simultaneously across boundary interfaces. As the on-board subsystems have become more complex and diverse, the development process has become more isolated. When considering thermal management of distributed heat loads, the aircraft has become a collection of individually optimised components and subsystems, rather than the implementation of a single system to perform a given task. Avionic thermal management is quickly becoming a limiting factor of aircraft performance, reliability and effectiveness. The challenge of avionic thermal management is growing with the increasing complexity and power density of avionic packages. The aircraft relies on a heat rejection growth capacity to accommodate the additional through-life avionic heat loads. Growth capacity is defined as an allowable thermal loading growth designed into the system by the underutilisation of spatial and cooling supply at aircraft introduction; however, this is a limited resource and aircraft subsystem cooling capability is reaching a critical point. The depleted growth capacity coupled with increased avionic power demands has led to component thermal failure. However, due to the poor resolution of existing data acquisition, experimental facilities or thermodynamic modeling, the exact inflight-operating conditions remain relatively unknown. The knowledge gap identified in this work is the lack of definitive methodology to generate high fidelity data of in-flight thermal conditions of fast-jet subsystems and provide evidence towards effective future thermal management technologies. It is shown that, through the development of a new methodology, the knowledge gap can be reduced and as an output of this approach the unknown system behaviour can be defined. A multidisciplinary approach to the replication, analysis and optimisation of a fast-jet TMS is detailed. The development of a new Ground Test Facility (GTF) allows previously unidentified system thermal behaviour to be evaluated at component, subsystem and system level. The development of new data to characterise current thermal performance of a fast jet TMS allows recommendations of several new technologies to be implemented through a component led integrative system optimisation. This approach is to consider the TMS as a single system to achieve a single goal of component thermal management. Three technologies are implemented to optimise avionic conditions through the minimisation of bleed air consumption, improve avionic reliability through increased avionic component isothermalisation and increase growth capacity through improved avionic heat exchanger fin utilisation. These component level technologies improved system level performance. A reduction in TMS bleed air consumption from 1225kg to 510kg was found to complete a typical flight profile. A peak predicted aircraft specific fuel consumption saving of 1.23% is seen at a cruise flight condition because of this approach to avionic thermal management.
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Meier, Kevin Christopher. "Developing a Guidance Law for a Small-Scale Controllable Projectile Using Backstepping and Adaptive Control Techniques and a Hardware System Implementation for a UAV and a UGV to Track a Moving Ground Target." BYU ScholarsArchive, 2012. https://scholarsarchive.byu.edu/etd/3378.
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The work in this thesis is on two topics. The first topic focuses on collaboration between a UAV and a UGV to track a moving ground target. The second topic focuses on deriving a guidance law for a small-scale controllable projectile to be guided into a target. For the first topic, we implement a path planning algorithm in a hardware system for a UAV and UGV to track a ground target. The algorithm is designed for urban environments where it is common for objects to obstruct sensors located on the UAV and the UGV. During the hardware system's implementation, multiple problems prevented the hardware system from functioning properly. We will describe solutions to these problems. For the second topic, we develop a guidance law for a small-scale controllable projectile using Lyapunov analysis techniques. We implement a PID controller on the body-axes pitch rate and yaw rate of the projectile such that the behavior of the pitch rate and yaw rate can be approximated as a second order system. We derive inputs for the pitch rate and yaw rate using backstepping and adaptive control techniques. The guidance law we develop guarantees the rocket will point at its intended destination. Additionally, we present expressions for the kinematics and dynamics of the rocket's motion and define the forces and moments that act on the rocket's body.
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Sun, Jisang. "Human Interfaces for Cooperative Control of Multiple Vehicle Systems." Diss., CLICK HERE for online access, 2006. http://contentdm.lib.byu.edu/ETD/image/etd1230.pdf.
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Morimoto, Todd, and Cliff Sargent. ""Don't Leave the Pad Without It": Using Deployable Assets to Conduct Pre-Launch and On-Orbit Testing." International Foundation for Telemetering, 1993. http://hdl.handle.net/10150/611866.
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International Telemetering Conference Proceedings / October 25-28, 1993 / Riviera Hotel and Convention Center, Las Vegas, Nevada<br>When hundreds of millions of dollars are invested in building, launching, and command/control of modern military space systems, the developers and operators need assurance that when their system achieves orbit, it will be able to "talk" with the ground network, exchanging commands, telemetry and ranging signals. Furthermore, prior to launch they need proof of compatibility with the ground data systems, showing that operational ground-based crypto keys, database parameters, and processing software are in-fact compatible with the spacecraft. This paper describes Air Force Materiel Command (AFMC), Space & Missile Center (SMC) Detachment 2's four classes of deployable test assets, emphasizing deployable's contribution to successful on-orbit performance. With not only the huge dollar investment, but even more important, the ability to execute a vital test or operational mission riding on compatibility, and launch vehicle and on-orbit test and evaluation operations the watchwords are "Don't leave the pad without it."
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Tanus, Meurehg Carlos Arturo. "Control of Escherichia coli O157:h7, generic Escherichia coli, and Salmonella spp. on beef trimmings prior to grinding using a controlled phase carbon dioxide ([subscriptCP]CO[subscript2]) system." Diss., Kansas State University, 2006. http://hdl.handle.net/2097/231.
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Doctor of Philosophy<br>Food Science Program<br>Daniel Y.C. Fung<br>Curtis L. Kastner<br>This dissertation was designed to evaluate antimicrobial, quality, and shelf life effects of controlled phase carbon dioxide (CPCO2) on beef trimmings destined for ground beef. Critical parameters included pressure, temperature, exposure times, modified atmosphere conditions, and days of simulated retail display.
1500 psi CPCO2 for 15 min achieved 0.83, 0.96, 1.00, and 1.06 log reductions for Total Plate Count (TPC), Generic E. coli (GEC), E. coli O157:H7 (O157), and Salmonella spp. (SS), respectively. Bacterial reductions in ground beef and beef trimmings were similar (P≥0.05).
CIE L*, a*, and b* values in raw patties showed no differences (P≥0.05) immediately after CPCO2 application on beef trimmings. Nevertheless, significant (P<0.05) interactions were found in pressure by packaging for L*, in pressure by packaging by days of simulated retail display for a*, and in packaging by days of simulated retail display for b* scores. Nevertheless, after 5 days of simulated retail display, L*, a*, and reflectance (630/580nm) ratios were similar for all treatments (P≥0.05), and b* scores were most acceptable with 1500 CPCO2 (P≥0.05), regardless of the packaging conditions.
After 5 days of display, cooked patties showed similar (P≥0.05) values for crude protein (%CP) and crude fat (%CF), the extent of lipid oxidation (TBARS), was higher (P0.05) in aerobic trays than flushed packages with 100% CO2.
Ground beef patties manufactured from beef trimmings treated with CPCO2scored higher values for tenderness (P0.05) than other treatments. In addition, no differences (P0.05) for juiciness, beef flavor intensity, or off flavor intensity were found between non-treated and the 1500 psi CPCO2 treated patties.
Microbial control of spoilage organisms and foodborne pathogens in ground beef patties with CPCO2 application in beef trimmings was effective (0.6 to 1.2 logs). Lethality levels are comparable to other intervention strategies. Discoloration of beef trimmings after CPCO2 application may not be a concern for grinding purposes. Further packaging with 100% CO2 is viable for controlling spoilage and pathogenic microorganisms after packaging and during refrigerated storage, although discoloration of raw ground beef patties packaged with 100% CO2 may be a concern for product marketing.
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Murphy, Taylor Byers. "Apprehending Remote Affordances: Assessing Human Sensor Systems and Their Ability to Understand a Distant Environment." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1374144285.
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Rodriguez, Uriel. "Miniaturization of ground station for unmanned air vehicles." [Gainesville, Fla.] : University of Florida, 2004. http://purl.fcla.edu/fcla/etd/UFE0008480.
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Martináková, Veronika. "Vyhodnocení snímků pořízených pomocí UAV." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2018. http://www.nusl.cz/ntk/nusl-390231.
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The master´s thesis deals with the application of unmanned aerial vehicle (UAV) in photogrammetry and mapping. The first part describes the UAV that was used for imaging, legislative restrictions resulting from its operations, planning and realization of the flight. The second part of this thesis is focused on processing results, especially on evaluation the accuracy of the results gained by UAV with and without a GNSS module. The data are evaluated in the 3rd accuracy rating class (ČSN 01 3410). The theoretical principles are explained as well. The main aim of the thesis is to demonstrate the effective use of the GNSS module Emlid Reach and the unmanned aerial vehicle in geodesy.
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Abuzeid, Mustafa R. "Advanced braking control strategies for trains." Thesis, Loughborough University, 1996. https://dspace.lboro.ac.uk/2134/32027.
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The thesis describes modelling methods that are being developed to support the design and evaluation of intelligent railway braking control systems. A particular feature is that the models include higher order vehicle and train dynamics, the effects of which are expected to become important as the performance of braking systems improve. The thesis describes mathematical techniques for modelling braking systems starting with braking of a single wheelset on its own, then a single braked wheelset in a bogie, followed by a single braked wheelset in a complete vehicle and finally four wheelsets braked in a complete vehicle. The mathematical model for the braking system combines the non-linear creep laws governing the braking forces generated between wheel and rail with the suspension dynamics of a typical high speed railway vehicle.
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Guebeli, Markus. "Optimum efficiency control of the CTX powertrain." Thesis, University of Bath, 1993. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.359851.
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Bielik, Jan. "Měřicí a regulační systém vzduchového zemního výměníku tepla." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231130.
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Diploma thesis deals with design of measurement and control system of an air-ground heat exchanger, which is placed in area of FME BUT in Brno. System is built in development environment LabVIEW and it is using modules CompactDAQ from National Instrument. Developed system managed trial operation, during which was designed additional changes of measurement equipment for determine another magnitudes, which help us with future evaluation of benefit of air-ground heating exchanger. It was designed some operational modes, which solve different ways of control air-ground heat exchanger.
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Al-Mayyahi, Auday Basheer Essa. "Motion control of unmanned ground vehicle using artificial intelligence." Thesis, University of Sussex, 2018. http://sro.sussex.ac.uk/id/eprint/76665/.
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The aim of this thesis is to solve two problems: the. trajectory tracking and navigation, for controlling the motion of unmanned ground vehicles (UGV). Such vehicles are usually used in industry for assisting automated production process or delivery services to improve and enhance the quality and efficiency. With regard to the trajectory tracking problem, the main task is to design a new method that is capable of minimising trajectory-tracking errors in UGV. To achieve this, a comprehensive mathematical model needs to be established that contains kinematic and dynamic characteristics beside actuators. In addition, different trajectories need to be generated and applied individually as a reference input, i.e. continuous gradient trajectories such as linear, circular and lemniscuses or a non-continuous gradient trajectory such as a square trajectory. The design method is based on a novel fractional order proportional integral derivative (FOPID) control strategy, which is proposed to control the movement of UGV to track given trajectories. Two FOPID controllers are required in this design. The first FOPID is constructed in order to control the orientation of UGV. The second FOPID controller is to control the speed of UGV. The particle swarm optimization (PSO) algorithm is used to obtain the optimal parameters for both controllers. The significance of the proposed method is that an observable improvement has been achieved in terms of minimising trajectory-tracking errors and reducing control efforts, especially in continuous gradient trajectories. The stability of the proposed controllers is investigated based upon Nyquist stability criterion. Moreover, the robustness of the controllers is examined in the presence of disturbances to demonstrate the effectiveness of the controllers under certain harsh conditions. The influence from external disturbances has been represented by square pulses and sinusoidal waves. The drawback of this method, however, a highly trajectory tracking error is observed in non-continuous gradient trajectories due to the sharpness of the rotation at the corners of a square trajectory. To overcome this drawback, a new controller, abbreviated as (NN-FOPID), has been proposed based on a combination of neural networks and the FOPID. The purpose is to minimise the trajectory tracking error of non-continuous trajectories, in particular. The Levenberg-Marquardt (LM) algorithm is used to train the NN-FOPID controller. The neural networks' cognitive capacities have made the system adaptable to respond effectively to the variants in trajectories. The obtained results by using NN-FOPID have shown a significant improvement of reducing errors of trajectory tracking and increasing control efforts over the results by FOPID. The other task is to solve the navigation problem of UGV in static and dynamic environments. This can be conducted by firstly constructing workspace environments that contain multiple dynamic and static obstacles. The dynamic obstructing obstacles can move in different velocities. The static obstacles can be randomly positioned in the workspace and all obstacles are allowed to have different sizes and shapes. Secondly, a UGV can be placed in any initial posture on the condition that it has to reach a given destination within the boundaries of the workspace. Thirdly, a method based on fuzzy inference systems (FIS) is proposed to control the motion of the UGV. The design of FIS is based on fuzzification, inference engine and defuzzification processes. The navigation task is divided into obstacle avoidance and target reaching tasks. Consequently, two individual FIS controllers are required to drive the actuators of the UGV, one is to avoid obstacles and the other is to reach a target. Both FIS controllers are combined through a switching mechanism to select the obstacle avoidance FIS controller if there is an obstacle, otherwise choosing reaching target FIS. The simulation results have confirmed the effectiveness of the proposed design in terms of obtaining optimal paths with shortest elapsed time. Similarly, a new method is proposed based on an adaptive neurofuzzy inference system (ANFIS) to guide the UGV in unstructured environments. This method combines the advantages of adaptive leaning and inference fuzzy system. The simulation results have demonstrated adequate achievements in terms of obtaining shortest and feasible paths whilst avoiding static obstructing obstacles and hence reaching the specified targets speedily. Finally, a UGV is constructed to investigate the overall performance of the proposed FIS controllers practically. The architecture of the UGV consists of three ultrasonic sensors, a magnetic compass and two quadratic decoders that they are interfaced with an Arduino microcontroller to read the sensory information. The Arduino, who acts as a slave microcontroller is serially connected with a master Raspberry Pi microcontroller. Raspberry Pi and Arduino communicate with each other based on a proposed hierarchical algorithm. Three case studies are introduced to demonstrate the effectiveness and the validation of the proposed FIS controllers and the UGV's platform in real-time.
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Economou, John Theodoros. "Modelling and control of multi wheel skid steer vehicles." Thesis, Cranfield University, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.342493.
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Hickson, Luke R. "Design and development of an active roll control suspension." Thesis, University of Bath, 1996. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.307076.
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Sundbrandt, Markus. "Control of a Ground Source Heat Pump using Hybrid Model Predictive Control." Thesis, Linköpings universitet, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71369.
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The thesis has been conducted at Bosch Thermoteknik AB and its aim is to develop a Model Predictive Control (MPC) controller for a ground source heat pump which minimizes the power consumption while being able to keep the inside air temperature and Domestic Hot Water (DHW) temperature within certain comfortintervals. First a model of the system is derived, since the system consists of both continuous and binary states a hybrid model is used. The MPC controller utilizes the model to predict the future states of the system, and by formulating an optimizationproblem an optimal control is achieved. The MPC controller is evaluated and compared to a conventional controller using simulations. After some tuning the MPC controller is capable of maintaining the inside air and DHW temperature at their reference levels without oscillating too much. The MPC controller’s general performance is quite similar to the conventional controller, but with a power consumption which is 1-3 % lower. A simulation using an inside air temperature reference which is lowered during the night is also conducted, it achieved a power consumption which was 7.5 % lower compared to a conventional controller.
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Chen, Xiaojiang. "A study of combined spacecraft attitude control systems." Thesis, University of Surrey, 2000. http://epubs.surrey.ac.uk/809008/.
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Rosam, Neil Daniel. "Design aspects and simulation of an interconnected Hydragas® roll control suspension." Thesis, University of Bath, 1995. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.299812.
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Salmins, Sandra S. (Sandra Sylvia). "Apple tree growth and yield in alternative ground management systems." Thesis, McGill University, 1993. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=68256.
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Dwarf apple tree growth and yield under several non-herbicidal ground management systems were compared. Six ground cover systems were established in two newly planted orchards. After two growing seasons, trees in the straw mulch and geotextile mulch treatments had larger trunk cross-sectional areas and more shoot growth than trees in the red fescue and insectary plant cover treatments. Growth of trees under the manure mulch and cultivation treatments was intermediate. When four of the systems were established along rows of five-year old trees in an existing orchard, the increase in trunk cross-sectional area over two growing seasons was greatest for trees in the manure mulch and straw mulch followed by tose in geotextile mulch, trees in the red fescue grew least. The use of a mulch, such as straw or geotextile, has a favourable effect on growth and has potential for use in organic orchards.
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Khosravi-Sichani, Bahman. "Control of multi-linkage systems in the air and on the ground /." The Ohio State University, 1985. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487260531956836.
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Whalen, James. "An investigation into the structure of operational control of driving during the negotiation of urban roundabouts." Thesis, University of Surrey, 2001. http://epubs.surrey.ac.uk/792158/.
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Ayala, V., and Hacibekiroglu A. Kara. "Examples of linear control systems on Lie groups." Pontificia Universidad Católica del Perú, 2013. http://repositorio.pucp.edu.pe/index/handle/123456789/95402.
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Wise, Richard. "UAV guidance control laws for autonomous coordinated tracking of a moving ground target /." Thesis, Connect to this title online; UW restricted, 2007. http://hdl.handle.net/1773/9959.
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Kalyadin, Dmitry. "Robot data and control server for Internet-based training on ground robots." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002111.
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Kumbale, Murali. "Bulk transmission system reliability analysis of protection and control groups." Thesis, Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/13840.
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