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Retief, Francois. "Investigation of a high-speed serial bus between satellite subsystems." Thesis, Stellenbosch : Stellenbosch University, 2003. http://hdl.handle.net/10019.1/53474.
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Thesis (MScEng)--University of Stellenbosch, 2003.<br>ENGLISH ABSTRACT: The aim of this thesis is to investigate the implementation of a high-speed serial bus based
on the IEEE Std 1394-1995 specification for use in a microsatellite.
Earth observation microsatellites carry imagers (or cameras) that take photographs of
the earth. Each photograph generates a large volume of digital data that has to be
transferred to either a storage device, a RF transmission unit or a video processing device.
Traditionally, the connection between such systems were dedicated serial bus systems that
were custom designed for just that purpose.
This thesis will investigate the the implementation of a generic alternative to such a
custom serial bus. The IEEE 1394 serial bus will allow many devices and subsystems to
be connected to the serial bus and will allow these different subsystems to exchange data
between each other.
As an example implementation, a real-time video link between two points using the IEEE
1394 serial bus will be developed.<br>AFRIKAANSE OPSOMMING: Die doel van hierdie tesis is om ondersoek in te stel na die bou van 'n hoëspoed seriebus
vir gebruik in 'n mikrosatelliet gebaseer is op die IEEE Std 1394-1995 spesifikasie.
Aardobservasie-mikrosatelliete bevat kameras wat fotos van die aarde neem. Elke foto
genereer groot volumes digitale data wat na óf 'n massastoor, óf 'n RF-sender, óf 'n
video-verwerkingseenheid gestuur word. Tradisioneel is elkeen van hierdie verbindings
met 'n toegewyde seriebus gedoen wat spesiaal vir daardie doel gemaak is.
Hierdie tesis het dit ten doelom ondersoek in te stel na 'n generiese alternatief vir hierdie
toegewyde seriële busse. Die IEEE 1394 seriebus sal toelaat dat verskeie eenhede en
substelsels aan mekaar gekoppel kan word en dat hulle data tussen mekaar kan uitruil.
Ter demonstrasie sal 'n intydse videoskakel ontwerp word wat die IEEE 1394 seriebus
gebruik om data tussen twee punte oor te dra.
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Iyer, Gopal Balakrishnan. "Digital communication and control circuits for 60ghz fully integrated CMOS digital radio." Thesis, Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/39589.
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Emerging "bandwidth hungry" applications such as high definition video distribution and ultra fast multimedia side-loading have extended the need for multi-gigabit wireless solutions beyond the reach of conventional WLAN technology or even more recently emerging UWB and MIMO systems. The availability of 7GHz of unlicensed bandwidth in the 60GHz spectrum, represents a unique opportunity to address such data-throughput requirements. The 60GHz Integrated CMOS digital radio chipset comprises of PHY and MAC layers, RF transceiver, High-Speed Digital Interface and an underlying Serial Communication Fabric.
To have a complete communication solution compliant with the latest ECMA-369, ISO/DIS 13156 and IEEE 802.15.3c standards, we build a million gate digital implementation of MAC and PHY. The Serial Peripheral Interface (SPI) serves as the bridge between the higher layers in the communication stack (PAL-MAC) and the lower layers like PHY-RF Front End. The MAC module can setup the communication link on the fly by tuning parameters such as operating channel, channel bonding and bandwidth, data rates, error correction mechanisms, handshaking mechanisms, etc, by using the SPI to communicate with internal components. The SPI interface plays a crucial rule in not only this, but also during the testing and debug phase. Operation of each of the RF modules is monitored through the serial interface using local SPI slaves which are hooked up to the 4-wire serial bus running all through the chip. The SPI host controller emulates an embedded protocol analyzer. For calibration and fine tuning purposes, digital settings can also be loaded onto these modules through the SPI interface. R-2R DACs are used to convert these commands into analog voltages which then provide a tunable bias to the RF and mixed-signal modules. Other key functions of this serial communication and control interface are: Initialization of all of the RF and mixed signal modules, DC calibration of data converter, PLL and other mixed-signal modules, data acquisition, parametric tuning for digital modules such as linear equalizer, Gain Control loops (AGC, VGA), etc.
Ultra high speed digital Input-Output buffers are used to provide an external data interface to the radio chipset. These high speed I/Os are also used in the gbps (gigabit-per-second) link for data transfer between the RF transceiver chip and the PHY-MAC baseband chip. The IOs are expected to comply with different signaling standards such as LVDS, SLVS200, SLVS400, etc. A robust system involves a meticulous pad ring design with proper power domains and power cuts. Full-chip integration of the digital PHY, MAC, peripheral logic and IO ring is done in a semi-custom fashion.
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Hall, John J. "The design, construction and control of a four-degree-of-freedom hybrid parallel/serial motion platform for the calibration of multi-axis inertial measurement units." Ohio : Ohio University, 2000. http://www.ohiolink.edu/etd/view.cgi?ohiou1171999705.
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Ramalho, Lucas Arruda. "An FPGA based 3.8 Tbps Data Sourcing and Emulator System." Universidade Estadual Paulista (UNESP), 2018. http://hdl.handle.net/11449/153037.
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Previous issue date: 2018-02-23<br>Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)<br>A evolução dos Multi Gigabit Transceivers (MGT) nos Field Programmable Gate Arrays (FPGA) trouxeram oportunidades para o desenvolvimento de sistemas de aquisição e formatadores de dados em diversas áreas. As novas famílias de FPGAs são capazes de lidar com canais de transmissão com velocidade da ordem de Gbps que utilizam protocolos seriais de alta velocidade, podendo assim se tornar o futuro dos processadores downstream ou upstream. Os sistemas digitais criados para esse propósito, precisam ser confiáveis e síncronos entre dezenas de canais e placas. Como forma de permitir o teste de projetos com essa taxa massiva de bits, essa tese descreve o desenvolvimento do Data Sourcing System (DSS). Esse sistema deve ser capaz de testar qualquer application upstream ou downstream, permitir controle e acesso remoto aos sinais internos dos FPGAs, medir sincronismo e latência entre MGTs e avaliar integridade de links através de bit error rate (BER). Este trabalho faz parte de uma colaboração internacional liderada pelo Fermilab que propôs, com a contribuição do sistema descrito nesta tese, um sistema de trigger de nível 1 para o Compact Muon Solenoid (CMS) Outer Tracker. O dectetor CMS é um experimento vinculado ao European Organization for Nuclear Research (CERN). O DSS foi implementado sobre a placa Pulsar 2b, uma placa padrão Advanced Telecommunication Computing Architecture (ATCA), desenvolvida pelo Fermilab, que conta com um dispositivo FPGA para programação e costumização de aplicações. O setup de hardware utilizado foi construído sobre dois bastidores ATCA com 12 placas Pulsares 2b em cada. A taxa de dados máxima atingida foi de 3.84 Tbps entre os dois bastidores ATCAs. O DSS está operacional e foi utilizado para emular o fluxo de dados de saída do CMS Silicon Outer Tracker, e auxiliar na demonstração da proposta trigger de nível 1. Esta tese descreve essa demonstração como estudo de caso, que testa o formatador de dados do trigger (downstream) através do DSS e- mulando a saída de dados do detector. Nesse estudo de caso, tanto o DSS e o trigger proposto foram implementados utilizando o mesmo hardware ATCA e a Pulsar 2b. O foco do estudo de caso é descrever a comunicação entre o Data Sourcing shelf e o Pattern Recognition shelf. O DSS atendeu aos requisitos da demonstração provendo uma interface de usuário que permite aos desenvolvedores de trigger inserir sinais de controle e executar operações de leitura e escrita de forma remota nos FPGAs.<br>The evolution of Fiel Programmable Gate Array (FPGA) Multi Gigabit Transceivers (MGT) brought opportunities for data formatter and data acquisition projects in several areas. The newer FPGA families are capable of handling Gigabits per second (Gbps) I/Os implemented using high speed serial link protocols and to become the future downstream processors. The digital systems created for that purpose need to be reliable and synchronous between dozens of channels and boards. To allow the test of such massive bitrate projects, this work implemented the Data Sourcing System (DSS) e- mulator that is able to produce synchronized data in 12 boards, 480 channels, delivering up to 8 Gbps for each of them. This work is part of a international collaboration, led by Fermilab, that proposed with the contribuition of the system described in this thesis, a Level 1 (L1) tri- gger for the Compact Muon Solenoid (CMS) Outer Tracker. The CMS detector is an European Organization for Nuclear Research (CERN) experiment. The DSS is based on the Pulsar 2b, a custom Advanced Telecommunication Computing Architecture (ATCA) standard FPGA-based board designed by Fermilab to be a scalable high speed link processor system. This hardware setup was implemented at Fermilab using two interconnected ATCA shelves with 12 Pulsar 2b on both. The results show that the system is able to provide data at 3.8 Terabits per second (Tbps), and to measure synchronization, latency and bit error rate of the MGTs. The system is operational and was already used to emulate the CMS Silicon Tracker data, and helped the demonstration of a L1 Trigger approach. This thesis describes the demonstration performed as case of study, which used the DSS as upstream system and tested the trigger data delivery as a downstream. In the case of study, both DSS and the proposed trigger are performed by the same ATCA hardware and the Pulsar 2b. The case of study focused to describe the communication between the Data Sourcing shelf and the Pattern Recognition shelf. Data Sourcing reached those requirements for the demonstration and provided a user interface that allows the trigger developers to insert control signals or to perform W/R operations inside Pulsar 2b FPGA block memories.
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Aboutaleb, Adam. "Empirical study of the effect of stochastic variability on the performance of human-dependent flexible flow lines." Thesis, De Montfort University, 2015. http://hdl.handle.net/2086/12103.
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Manufacturing systems have developed both physically and technologically, allowing production of innovative new products in a shorter lead time, to meet the 21st century market demand. Flexible flow lines for instance use flexible entities to generate multiple product variants using the same routing. However, the variability within the flow line is asynchronous and stochastic, causing disruptions to the throughput rate. Current autonomous variability control approaches decentralise the autonomous decision allowing quick response in a dynamic environment. However, they have limitations, e.g., uncertainty that the decision is globally optimal and applicability to limited decisions. This research presents a novel formula-based autonomous control method centered on an empirical study of the effect of stochastic variability on the performance of flexible human-dependent serial flow lines. At the process level, normal distribution was used and generic nonlinear terms were then derived to represent the asynchronous variability at the flow line level. These terms were shortlisted based on their impact on the throughput rate and used to develop the formula using data mining techniques. The developed standalone formulas for the throughput rate of synchronous and asynchronous human-dependent flow lines gave steady and accurate results, higher than closest rivals, across a wide range of test data sets. Validation with continuous data from a real-world case study gave a mean absolute percentage error of 5%. The formula-based autonomous control method quantifies the impact of changes in decision variables, e.g., routing, arrival rate, etc., on the global delivery performance target, i.e., throughput, and recommends the optimal decisions independent of the performance measures of the current state. This approach gives robust decisions using pre-identified relationships and targets a wider range of decision variables. The performance of the developed autonomous control method was successfully validated for process, routing and product decisions using a standard 3x3 flexible flow line model and the real-world case study. The method was able to consistently reach the optimal decisions that improve local and global performance targets, i.e., throughput, queues and utilisation efficiency, for static and dynamic situations. For the case of parallel processing which the formula cannot handle, a hybrid autonomous control method, integrating the formula-based and an existing autonomous control method, i.e., QLE, was developed and validated.
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Crippa, Paulo Henrique. "Projeto de um sistema de controle adaptativo para apontamento automático de uma antena parabólica receptora." Universidade de Taubaté, 2011. http://www.bdtd.unitau.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=263.
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O objetivo deste trabalho é desenvolver um sistema de controle capaz de realizar o apontamento automático de uma antena parabólica de forma mais precisa e com menor tempo de apontamento quando comparado ao apontamento manual. A antena parabólica em estudo consta de uma parábola metálica de 1.60 m de diâmetro, base de sustentação em ferro, dois conjuntos de engrenagens e dois motores elétricos para realização dos movimentos. Os parâmetros físicos do sistema mecânico, tais como massa, volume e inércia, puderam ser facilmente obtidos a partir de uma modelagem tridimensional em um software de plataforma CAD. Para a modelagem dinâmica do sistema utilizou-se a similaridade do sistema físico em estudo com um manipulador de cadeia aberta de dois graus de liberdade o que permitiu que se aplicassem conceitos referentes a cinemática e modelagem de manipuladores robóticos. Através da notação de Denavit-Hartenberg a cinemática direta da antena com dois graus de liberdade foi obtida com sucesso. As equações dinâmicas que descrevem o movimento do sistema foram levantadas através de um modelador automático implementado em um software de manipulação simbólica. Para tanto foi desenvolvido um algoritmo que descreve os passos necessários para obtenção das equações de movimento de um manipulador robótico em cadeia aberta, a partir da formulação Lagrangeana. Um sistema de controle adaptativo por modelo de referência foi projetado e implementado considerando as incertezas do modelo oriundas de imperfeições contidas na modelagem tridimensional realizada. Os resultados obtidos por simulação do sistema de controle adaptativo se mostraram satisfatórios e os índices de desempenho esperados para um perfeito apontamento foram alcançados.<br>The objective of this work is to develop a control system capable of performing the automatic maneuver of a satellite dish more accurately with less time maneuvering when compared to manual maneuver. The dish consists of a study on metal parabola 1.60 m in diameter, base of support in iron, two sets of gears and two electric motors to perform the movements. The physical parameters of the mechanical system, such as mass, volume and inertia could be easily obtained from a three-dimensional modeling in a CAD software platform. For modeling the system dynamics we used the similarity of the physical system under study with an open chain manipulator of two degrees of freedom that allowed it to apply concepts related to kinematics and modeling of robotic manipulators. Through the Denavit-Hartenberg notation of the direct kinematics of the antenna with two degrees of freedom was successfully obtained. The dynamic equations describing the motion of the system were raised through an automatic model implemented in symbolic manipulation software. To that end, an algorithm that describes the steps necessary to obtain the equations of motion of a robotic manipulator in open chain, from the Lagrangian method, was developed. A model reference adaptive control system was designed and implemented considering the uncertainties of the model arising from imperfections within the three-dimensional modeling. The results obtained by simulation of the system of closed loop control were satisfactory as well as the high rates of the perfect maneuver have been achieved.
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Song, Zhanglei. "Research on remote control of reconfigurable modular robotic system." Thesis, UOIT, 2009. http://hdl.handle.net/10155/24.
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Serial manipulators, which have large work space with respect to their own volume
and occupied floor space, are the most common industrial robots by far. However, in
many environments the situation is unstructured and less predictable, such as aboard a space station, a nuclear waste retrieval site, or a lunar base construction site. It is almost impossible to design a single robotic system which can meet all the requirements for every task. In these circumstances, it is important to deploy a modular reconfigurable robotic system, which is suitable to various task requirements. Modular reconfigurable robots have a variety of attributes that are well suited to for these conditions, including: the ability to serve as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundany(increasing robustness). By easy disassembly and reassembly features, this serial modular robotic system will bring advantages to small and medium enterprise to save costs in the long term.
This thesis focuses on developing such a serial reconfigurable modular robotic
system with remote control functionality. The robotic arms are assembled by PowerCube
Modules with cubic outward appearance. The control and power electronics are fully
integrated on the connector block inside of the modules. Those modules are connected in
series by looping through, and can work completely independently. The communication
between robotic arms and PC controller is connected by the Control Area Network bus.
CAN protocol detects and corrects transmission errors caused by electromagnetic
interference. The local PC can directly control the robotic arm via Visual Basic code, and it can also be treated as server controller. Client PCs can access and control the robotic arm remotely through Socket communication mechanism with certain IP address and port number. A Java3D model is created on the client PC synchronously for customers online monitoring and control. The forward and inverse kinematic analysis is solved by Vector Algebraic Method. The Neutral Network Method is also introduced to improve the kinematic analysis. Multiple-layer networks are capable of approximating any function with finite number of discontinuities. For learning the inverse kinematics neural network needs information about coordinates, joint angles and actuator positions. The desired Cartesian coordinates are given as input to the neural network that returns actuator positions as output. The robot position is simulated using these actuator positions as reference values for each actuator.
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Dryer, Robert M. "A serial queuing model for the Navy Advanced Traceability and Control (ATAC) system." Thesis, Monterey, California. Naval Postgraduate School, 1991. http://hdl.handle.net/10945/28528.
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Zuo, Wei. "Fourier neural network based tracking control for nonlinear systems /." View abstract or full-text, 2008. http://library.ust.hk/cgi/db/thesis.pl?MECH%202008%20ZUO.
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Jiang, Junmin. "Fourier series-based learning control of nonlinear systems with backlash /." View abstract or full-text, 2008. http://library.ust.hk/cgi/db/thesis.pl?MECH%202008%20JIANG.
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Torrico, Caceres Angel Fernando. "Identificação e controle estocasticos descentralizados de sistemas interconectados multivariaveis no espaço de estado." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260208.
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Orientador: Celso Pascoli Bottura<br>Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação<br>Made available in DSpace on 2018-08-04T15:52:49Z (GMT). No. of bitstreams: 1
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Previous issue date: 2005<br>Resumo: Nesta Tese, uma metodologia descentralizada de identificação linear no espaço de estado para sistemas multivariáveis estocásticos, discretos no tempo e serialmente interconectados, é proposta. A identificação do sistema global pode ser feita por meio da identificação individual dos seus subsistemas usando-se algum método de identificação de sistemas e de séries temporais multivariáveis no espaço de estado, dentre os aqui discutidos: Identificação no Espaço de Estado do Erro de Saída de Sistemas Multivariáveis (MOESP), Algoritmos Numéricos para a Identificação nos Subespaços de Sistemas no Espaço de Estado (N4SID), realização estocástica com entradas exógenas utilizando mínimos quadrados restrito, (CLS-SSI) e MOESP-AOKI. Com base nos modelos obtidos para os subsistemas, uma etodologia de controle ótimo descentralizado que explora a estrutura Bloco Triangular Inferior das matrizes do sistema é utilizada. A metodologia combinada de identificação e de controle estocásticos descentralizados, estruturada neste estudo, é aplicada a sistema interconectado de qualidade de água de rio, que motivou este trabalho<br>Abstract: In this thesis a decentralized methodology for linear state space identification of discrete time, serially interconnected multivariable stochastic systems is proposed. The global system identificationis achieved by means of the individual identification of its subsystems through some state space methods for identification of multivariable systems and time series, among the ones here discussed: Multivariable Output-Error State Space Identification (MOESP), Numerical Algorithms for SubspaceState Space Systems Identification (N4SID), Constrained Least-Squares State Space Identification (CLS-SSI), MOESP-AOKI. Based on the obtained subsystems models a methodology of optimal decentralized control systems that explores the matrices Lower Block Triangular structure is utilized. The combined decentralized stochastic identification and control methodology structured in this study is applied to an interconnected river water quality system, that motivated this work<br>Doutorado<br>Automação<br>Doutor em Engenharia Elétrica
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Lucius, Tommie J. "Department of Defense quality management systems and ISO 9000:2000." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2002. http://sirsi.nps.navy.mil/uhtbin/hyperion-image/02Mar%5FLucius.pdf.
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Pillai, Sreelal Sreedharan, Sreekumar Sankarattil, Padma Padmanabhan, et al. "A VERSATILE, SOFTWARE PROGRAMMABLE TELEMETRY SYSTEM FOR SATELLITE LAUNCH VEHICLES." International Foundation for Telemetering, 2006. http://hdl.handle.net/10150/604256.
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ITC/USA 2006 Conference Proceedings / The Forty-Second Annual International Telemetering Conference and Technical Exhibition / October 23-26, 2006 / Town and Country Resort & Convention Center, San Diego, California<br>We describe the design and development of a baseband telemetry system for multistage launch
vehicles. The system is organized as a three tier one with remote data acquisition and processing
units and a centralized control unit. The front-end Data Acquisition Units (DAUs) feature
software programmable amplification, offset, filtering and sensor excitation and thus are flexible
to interface directly to a variety of sensors used in launch vehicles. The Data Processing Units
(DPUs) gather data from DAUs through a serial link compatible to RS-485 standards and carry
out a variety of data analysis and data compression functions on selected channels under
software control. The central Telemetry Control Unit (TCU) receives this data through a
transformer isolated link compatible to MIL-1553B standards and performs the functions of data
delay, data storage, onboard computer data monitoring, PCM formatting and pre-modulation
signal conditioning to achieve miniaturization. The configuration and features of this telemetry
system make its integration simple without compromising on data integrity and reliability and
suit the adoption of futuristic technologies and concepts such as smart sensor networks,
adaptability, reconfiguration and vehicle health management.
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Masuda, Mario. "Aplicação do dispositivo FACTS (Flexible AC Transmission Systems) em sistema de distribuição -simulação de desempenho." Universidade de São Paulo, 2006. http://www.teses.usp.br/teses/disponiveis/3/3143/tde-08122006-161400/.
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As novas tecnologias FACTS aplicadas ao sistema de transmissão, com base em eletrônica de potência, podem também ser úteis à distribuição. Para tal é preciso conduzir um procedimento de consolidação da utilização e do desempenho destas, para sua aplicação sem riscos. Neste trabalho, dois aspectos serão contemplados. O primeiro se refere à aplicação do dispositivo FACTS atuando como um capacitor série. Em se tendo controle de módulo e da fase da tensão inserida em série com a linha pode-se fazê-la comportar-se como uma queda em uma reatância série capacitiva ou indutiva. O controle dessa reatância série (aumentando/diminuindo) permitirá a aplicação do conceito de compensação série em qualquer ponto do sistema de distribuição, provendo benefícios de um controle contínuo da tensão e também do controle do fluxo de carga no sistema independente da corrente. O segundo aspecto refere-se ao uso dos dispositivos na conexão de alimentadores controlando a potência ativa entre eles. Para esta operação outro dispositivo UPFC, com conceito similar ao descrito acima, entretanto atuando na fase da tensão entre 2 barras, comporta-se como um transformador defasador com variação contínua de ?taps?, podendo controlar a potência ativa entre os alimentadores. A aplicação destas tecnologias propiciarão vários benefícios para a expansão da distribuição tais como, flexibilização do uso da rede, interligação de alimentadores permitindo manobras de blocos de energia sem ?pisca?, ajuste contínuo do suporte de reativos durante a operação, controle dinâmico do fluxo de potência. O objetivo deste trabalho é estudar a aplicabilidade da tecnologia FACTS e estender este conceito para aplicação em sistemas de distribuição e conduzir simulações digitais em redes de distribuição (15kV) identificando o desempenho e os benefícios atingidos. O programa de simulação utilizado é o ATP (Alternative Transients Program).<br>The new FACTS technologies applied to the transmission system, based on power electronics, can also be useful to the distribution. For that, it is necessary to drive a procedure to consolidate the use and the performance for their application without risks. In this work two aspects will be approached. The first refers to the application of a FACTS device acting as series compensator. This device will be able to control the voltage in module and phase in order to act as a voltage drop in a serie reactance with capacitive or inductive features. The control of this series reactance (increasing/ decreasing) will allow the application of series compensation concept to any point of the distribution system, providing the benefits of continuous control of the voltage added to the load flow control in the system independent of the current. The second aspect refers to its use in the connection of two feeders controlling the active power between them. For this operation other device, UPFC, with similar concept as described previously, acts mainly in the phase of the injected voltage in the line, performing as a phase-shift with continuous taps variation and is able to control the active power flow between feeders. The application of this technology will provide several benefits for the distribution expansion, such as, a greater flexibility in the use of the network, connection of feeders without load flow interruption, continuous adjust of reactive power during the operation and dynamic control of power flow. The purpose of this work is to study the applicability of the FACTS technology, to extend this concept for the application in the distribution system by using digital simulations in distribution network up to 15kV identifying the performance and the reached benefits.
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Correia, Daniel Fortuna. "Management and Control of Water Supply Systems." Master's thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/13834.
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Mestrado em Engenharia Mecânica<br>The fast increase in the energy’s price has brought a growing concern about the highly expensive task of transporting water. By creating an hydraulic model of the Water Supply System’s (WSS) network and predicting its behaviour, it is possible to take advantage of the energy’s tariffs, reducing the total cost on pumping activities. This thesis was developed, in association with a technology transfer project called the E-Pumping. It focuses on finding a flexible supervision and control strategy, adaptable to any existent Water Supply System (WSS), as well as forecasting the water demand on a time period chosen by the end user, so that the pumping actions could be planned to an optimum schedule, that minimizes the total operational cost. The OPC protocol, associated to a MySQL database were used to develop a flexible tool of supervision and control, due to their adaptability to function with equipments from various manufacturers, being another integrated modular part of the E-Pumping project. Furthermore, in this thesis, through the study and performance tests of
several statistical models based on time series, specifically applied to this problem, a forecasting tool adaptable to any station, and whose model parameters are automatically refreshed at runtime, was developed and added to the project as another module. Both the aforementioned modules were later integrated with an Graphical User Interface (GUI) and installed in a pilot application at the ADDP’s network. The implementation of this software on WSSs across the country will reduce the water supply companies’ running costs, improving their market competition and, ultimately, lowering the water price to the end costumer.<br>O rápido aumento dos preços da electricidade tem provocado um aumento na preocupação com a tarefa extremamente dispendiosa de transporte de água. Através da criação de modelos hidráulicos de redes de Sistemas de Fornecimento de Água, e da previsão do seu comportamento, é possível tirar vantagem das diferentes tarifas horárias de consumo de energia, reduzindo desta forma os custos totais do bombeamento de água. Esta tese foi desenvolvida em associação com o projecto de transferência de tecnologia denominado E-Pumping. Foca-se na procura de uma estratégia de supervisão e controlo flexível e adaptável a qualquer Sistema de Fornecimento de Água existente, bem como na previsão do consumo de água durante um período escolhido pelo utilizador final, o objectivo final é permitir o planeamento de um horário óptimo que minimize o custo do consumo de energia eléctrica. O Protocolo OPC, associado a uma Base de Dados MySQL, foi usado para o desenvolvimento da ferramenta de supervisão e controlo flexível, constituindo no seu conjunto um módulo do Projecto E-Pumping. A escolha
baseou-se em ambas as tecnologias serem adaptáveis a equipamentos de diferentes fabricantes. Esta tese produziu ainda uma ferramenta de previsão do consumo de água, adaptável a qualquer estação, constituindo um segundo módulo do projecto. Esta ferramenta foi obtida através do estudo e testes de performance a variados modelos baseados em séries temporais, especificamente aplicadas a este problema. Os parâmetros do modelo de base desta ferramenta são automaticamente actualizados a cada execução do programa. Ambos os módulos referidos foram integrados com uma Interface Gráfica (GUI) e implementados numa aplicação piloto instalada na rede de abastecimento de água da empresa Águas do Douro e Paiva (ADDP). A implementação deste software em Sistemas de Abastecimento de Água por todo o país reduziria os seus custos de funcionamento, melhorando a sua capacidade de competição no mercado e, em última instância, diminuindo os preços da água para o consumidor final.
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Canaday, Daniel M. "Modeling and Control of Dynamical Systems with Reservoir Computing." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu157469471458874.
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Laird, Daniel T., and Jon Morgan. "Data Flow and Remote Control in the Telemetry Network System." International Foundation for Telemetering, 2009. http://hdl.handle.net/10150/606151.
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ITC/USA 2009 Conference Proceedings / The Forty-Fifth Annual International Telemetering Conference and Technical Exhibition / October 26-29, 2009 / Riviera Hotel & Convention Center, Las Vegas, Nevada<br>The Central Test and Evaluation Investment Program (CTEIP) Integrated Network Enhanced Telemetry (iNET) program is currently developing new standards for wired-wireless local area networking (LAN-WLAN) using the Internet Protocol (IP), for use in telemetry (TM) channels, under the umbrella of the Telemetry Network System (TmNS). Some advantages of TmNS are real-time command and control of instrumentation, quick-look acquisition, data retransmission and recovery ('gapless TM' or 'PCM backfill'), data segmentation, etc. The iNET team is developing and evaluating prototypes, based on commercial 802.x and other technologies, in conjunction with Range Commander's Council (RCC) Inter-Range Instrumentation Group (IRIG) standards and standards developed under the iNET program.
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Kreikebaum, Frank Karl. "Control of transmission system power flows." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50392.
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Power flow (PF) control can increase the utilization of the transmission system and connect lower cost generation with load. While PF controllers have demonstrated the ability to realize dynamic PF control for more than 25 years, PF control has been sparsely implemented.
This research re-examines PF control in light of the recent development of fractionally-rated PF controllers and the incremental power flow (IPF) control concept. IPF control is the transfer of an incremental quantity of power from a specified source bus to specified destination bus along a specified path without influencing power flows on circuits outside of the path.
The objectives of the research are to develop power system operation and planning methods compatible with IPF control, test the technical viability of IPF control, develop transmission planning frameworks leveraging PF and IPF control, develop power system operation and planning tools compatible with PF control, and quantify the impacts of PF and IPF control on multi-decade transmission planning.
The results suggest that planning and operation of the power system are feasible with PF controllers and may lead to cost savings. The proposed planning frameworks may incent transmission investment and be compatible with the existing transmission planning process. If the results of the planning tool demonstration scale to the national level, the annual savings in electricity expenditures would be $13 billion per year (2010$). The proposed incremental packetized energy concept may facilitate a reduction in the environmental impact of energy consumption and lead to additional cost savings.
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Braga, Márcio Feliciano 1983. "Discretização e controle por rede de sistemas politópicos com taxa de amostragem incerta e atraso." [s.n.], 2015. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261057.
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Orientadores: Pedro Luis Dias Peres, Ricardo Coração de Leão Fontoura de Oliveira<br>Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação<br>Made available in DSpace on 2018-08-27T08:37:55Z (GMT). No. of bitstreams: 1
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Previous issue date: 2015<br>Resumo: Esta tese investiga o problema de discretização de sistemas lineares incertos em dois cenários distintos. O primeiro supõe que as matrizes do sistema e a taxa de amostragem são incertas e invariantes no tempo, descritas em termos de politopos. No segundo caso supõe-se que todos os parâmetros incertos, incluindo o intervalo de amostragem, podem variar no tempo; que os parâmetros do sistema possuem limitantes conhecidos para a taxa de variação e são continuamente monitorados, de forma que uma nova amostra é coletada sempre que ocorrer uma mudança significativa nos parâmetros ou quando um intervalo máximo desde a última amostragem for atingido, caracterizando-se assim a chamada amostragem baseada em eventos. O objetivo é projetar controladores digitais para o sistema discretizado e garantir teoricamente a estabilidade robusta em malha fechada do sistema contínuo original. Considera-se também um atraso induzido pela rede no modelo discreto. Do ponto de vista da discretização, propõem-se extensões da expansão em série de Taylor até um grau arbitrário l aplicada ao sistema original como uma solução para tratar as expressões envolvendo exponenciais de matrizes incertas. O modelo discreto resultante é composto por matrizes polinomiais homogêneas de grau l com parâmetros pertencentes ao produto cartesiano de simplexos unitários, chamado multi-simplex, mais um termo aditivo limitado em norma que representa o erro residual de aproximação. Modelos mais acurados são obtidos com o aumento do grau l que, consequentemente, produz resíduos com menor norma, possibilitando resultados de síntese menos conservadores. Também são propostas condições na forma de desigualdade matriciais lineares para a síntese de controladores digitais robustos por realimentação de estados e de saída, cômputo de norma H2 e análise de estabilidade para sistemas discretos polinomiais com incertezas aditivas limitadas em norma. As condições empregam funções de Lyapunov com dependência polinomial nos parâmetros incertos para certificar a estabilidade em malha fechada do sistema controlado. Em alguns casos, as desigualdades matriciais possuem um parâmetro escalar, tornando-se lineares para valores fixos desse parâmetro. Os resultados obtidos são gradativamente menos conservadores com o aumento do grau da matriz de Lyapunov, podendo ainda ser melhorados com o auxílio de uma busca linear no parâmetro escalar. Experimentos numéricos são apresentados para ilustrar a versatilidade da metodologia proposta, aplicável a uma classe mais geral de problemas de controle por rede que os métodos existentes na literatura<br>Abstract: This thesis investigates the problem of discretization of uncertain linear systems in two distinct scenarios. The first one supposes that the matrices of the system and the sampling rate are uncertain and time-invariant, described in terms of polytopes. The second case considers that all uncertain parameters, including the sampling interval, can vary in time and that the parameters of the system have known bounds for the rate of variation and are continuously monitored, in such a way that a new sample is collected whenever a significant change in the parameters occurs or when a maximum time interval since the previous sample is reached, thus characterizing the so-called event-based sampling. The aim is to design digital controllers for the discretized system and to guarantee the closed-loop robust stability of the original continuous-time system. A network-induced delay is also considered in the discretetime model. From the discretization point of view, extensions of the Taylor series expansion of an arbitrary degree ℓ applied to the original system are proposed as a solution to deal with expressions involving the exponential of uncertain matrices. The resulting discrete-time model consists of homogeneous polynomial matrices of degree ℓ with parameters belonging to the Cartesian product of unit simplexes, called multi-simplex, plus an additive norm-bounded term which represents the approximation residual error. More accurate models are obtained with the increase in the degree ℓ which, consequently, yields residues with lower norms, allowing to produce less conservative synthesis results. Conditions based on linear matrix inequalities for the synthesis of robust state-feedback and output-feedback digital controllers, H2 norm computation, and stability analysis for polynomial discrete-time systems with additive norm-bounded terms are also proposed. The conditions employ Lyapunov functions with polynomial dependency
on the uncertain parameters to certify the closed-loop stability of the controlled system. In some cases, the matrix inequalities have a scalar parameter, becoming linear for fixed values of the parameter. The obtained results are gradually less conservative with the increase of the
degree of the Lyapunov matrix and can be further enhanced with the help of a line search in the scalar parameter. Numerical experiments are presented to illustrate the versatility of the proposed methodology, applicable to a more general class of networked control problems than the existing methods in the literature.<br>Doutorado<br>Automação<br>Doutor em Engenharia Elétrica
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Clough, Jennifer. "A risk control management system in the ISO 9000 format for Company XYZ." Online version, 1998. http://www.uwstout.edu/lib/thesis/1998/1998choughj.pdf.
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Zhu, Yang. "Improvement of the Fourier series based learning control scheme in a low-bandwidth system application /." View abstract or full-text, 2005. http://library.ust.hk/cgi/db/thesis.pl?MECH%202005%20ZHU.
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Danke, Brett L. "A tool for evaluating corrective action systems based on the analysis, profile, and evaluation of contemporary documentation from ISO 9000 compliant organizations." Online version, 1999. http://www.uwstout.edu/lib/thesis/1999/1999dankeb.pdf.
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Min, Chaoqing Verfasser], Thomas [Akademischer Betreuer] [Sattel, Peter [Gutachter] Hagedorn, and Alexander [Gutachter] Fidlin. "New semi-active vibration control with Serial-Stiffness-Switch-System based on vibration energy harvesting / Chaoqing Min ; Gutachter: Peter Hagedorn, Alexander Fidlin ; Betreuer: Thomas Sattel." Ilmenau : TU Ilmenau, 2018. http://d-nb.info/117812486X/34.
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Chuang, Wen-Cheng. "Time series modeling in water loss." Ohio : Ohio University, 1987. http://www.ohiolink.edu/etd/view.cgi?ohiou1183042019.
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Eghbalian, Amirmohammad. "Data mining techniques for modeling the operating behaviors of smart building control valve systems." Thesis, Blekinge Tekniska Högskola, Institutionen för datavetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-20102.
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Background. One of the challenges about smart control valves system is processing and analyzing sensors data to extract useful information. These types of information can be used to detect the deviating behaviors which can be an indication of faults and issues in the system. Outlier detection is a process in which we try to find these deviating behaviors that occur in the system.Objectives. First, perform a literature review to get an insight about the machine learning (ML) and data mining (DM) techniques that can be applied to extract patternfrom time-series data. Next, model the operating behaviors of the control valve system using appropriate machine learning and data mining techniques. Finally,evaluate the proposed behavioral models on real world data.Methods. To have a better understanding of the different ML and DM techniques for extracting patterns from time-series data and fault detection and diagnosis of building systems, literature review is conducted. Later on, an unsupervised learning approach is proposed for modeling the typical operating behaviors and detecting the deviating operating behaviors of the control valve system. Additionally, the proposed method provides supplementary information for domain experts to help them in their analysis.Results. The outcome from modeling and monitoring the operating behaviors ofthe control valve system are analyzed. The evaluation of the results by the domain experts indicates that the method is capable of detecting deviating or unseen operating behaviors of the system. Moreover, the proposed method provides additional useful information to have a better understanding of the obtained results.Conclusions. The main goal in this study was achieved by proposing a method that can model the typical operating behaviors of the control valve system. The generated model can be used to monitor the newly arrived daily measurements and detect the deviating or unseen operating behaviors of the control valve system. Also, it provides supplementary information that can help domain experts to facilitate and reduce the time of analysis.
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Omran, Shaimaa AbdAlla Ezz Ibrahim. "Control Applications and Economic Evaluations of Distributed Series Reactors in Unbalanced Electrical Transmission Systems." Diss., Virginia Tech, 2015. http://hdl.handle.net/10919/52240.
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An important issue in today's power system is the need to analyse and determine the adequacy of transmission capacity. There is a need for approaches to increase transmission system capacity without construction of new transmission facilities, all while assuring secure operation of the grid. New technologies can enhance efficiency and reliability, increase capacity utilization, enable more rapid response to contingencies, and increase flexibility in controlling power flows on transmission lines. Distributed Series Reactor (DSR) control is a new smart grid technology that can be applied to control flows in the transmission system. DSRs can be used to balance phase flows in a single line as well as to control the distribution of flow in parallel flow paths.
This dissertation investigates the Design of Distributed Series Reactors (DSRs) on transmission lines and provide guidelines and considerations for their implementation in bulk power system transmission networks to control power flow to: increase the exisiting transmission capacity utilization, alleviate overloads due to load growth and contingencies, and mitigate the effects of unbalanced voltages, unbalanced transmission line impedances and unbalanced loads by balancing flows in the phases of an unbalanced line.
This dissertation provides several DSR System Design aspects; for a single line by performing an experiment for EHV and high voltage three parallel transmission lines, and for lines within the boundaries of a power system by deployment of DSRs over the IEEE 39 bus system that is modified and modelled as a 3-phase unbalanced transmission model with 345 kV lines that accounts for tower geometry and as a balanced, 3-phase model that is derived from the unbalanced, 3-phase model, and finally for lines within a control area and a set of tie lines among control areas by deployment of DSRs over a real system control area and the tie lines connecting this area to other power pool areas.
For all experiments and simulations in this dissertation lines are modelled as 3-phase lines. The DSR system design for Unbalanced vs. Balanced 3-phase systems (Unbalanced immittance, Unbalanced load) are examined. Also the Distributed vs. Lumped models for 3-phase systems are tested. Comparison between DSR system design and transposition for voltage balancing was performed. The effect of bundling the conductors for DSR system design was investiagted.
In this dissertation an economic evaluation of DSR System Design for parallel lines and for the IEEE 39 bus three-phase unbalanced line model for N-1 criterion contingency with load growth is performed. The economic evaluation performed for the DSR system design of a power system versus new transmission line construction showed that DSRs can be cost effective in managing load increases from year to a year, and thus avoid larger investments in new line construction until load expectations are proven to be true. Thus, a major value of DSRs is handling load growth in the short term, delaying larger investments.
Although many aspects of DSR control implementation have yet to be explored, this work has demonstrated the fundamental concept is sound and the economics are compelling.<br>Ph. D.
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Jemwa, Gorden Takawadiyi. "Multivariate nonlinear time series analysis of dynamic process systems." Thesis, Stellenbosch : University of Stellenbosch, 2003. http://hdl.handle.net/10019.1/16339.
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Thesis (MScIng)--University of Stellenbosch, 2003.<br>ENGLISH ABSTRACT: Physical systems encountered in process engineering are invariably ill-defined, multivariate,
and exhibit complex nonlinear dynamical behaviour. The increasing demands
for better process efficiency and high product quality have led to the development
and implementation of advanced control strategies in process plants. These
modern control strategies are based on the use of a mathematical model defined for
the process. Traditionally, linear models have been used to approximate the dynamics
of processes whereas most processes are governed by nonlinear mechanisms.
Since linear systems theory is well-established whereas nonlinear systems theory is
not, recent developments in nonlinear dynamical systems theory present opportunities
for improved approaches in modelling these process systems. It is now known
that a nonlinear description of a process can be obtained from using time-delayed
copies reconstructed from measurements taken from the process. Due to low signal
to noise ratios associated with measured data it is logical to exploit redundant information
in multivariate time signals taken from the systems in reconstructing the
underlying dynamics.
This study investigated the extension of univariate nonlinear time series analysis
to the situation where multivariate measurements are available. Using simulated
data from a coupled continuously stirred tank reactor and measured data from a
flotation process system, the comparative advantages of using multivariate and univariate
state space reconstructions were investigated. With respect to detection of
nonlinearity multivariate surrogate analysis were found to give potentially robust
results because of preservation of cross-correlations among components in the surrogate
data. Multivariate local linear models showed a deterministic structure in both
small and large neighbourhood sizes whereas for scalar embeddings determinism was
defined only in smaller neighbourhood sizes. Non-uniform multivariate embeddings
gave local linear models that resembled models from a trivial reconstruction of the original state space variables. With regard to global nonlinear modelling, multivariate
embeddings gave models with better predictability irrespective of the model
class used. Further improvements in the performance of models were obtained for
multivariate non-uniform embeddings.
A relatively new statistical learning algorithm, the least-squares support vector
machine (LSSVM), was evaluated using multilayer perceptrons (MLP) as a benchmark
in modelling nonlinear time series using simulated and plant data. It was
observed that in the absence of autocorrelations in the variables and sparse data
LSSVMs performed better than MLPs. Simulation of trained models gave consistent
results for the LSSVMs, which was not the case for MLPs. However, the
computational costs incurred in training the LSSVM model was significantly higher
than for MLPs. LSSVMs were found to be insensitive to dimensionality reduction
methods whereas the performance of MLPs degraded with increasing complexity of
the dimension reduction method. No relative merits were found for using complex
subspace dimension reduction methods for the data used. No general conclusions
could be drawn with respect to the relative superiority of one class of models method
over the other.
Spatiotemporal structures are routinely observed in many chemical systems,
such as reactive-diffusion and other pattern forming systems. We investigated the
modelling of spatiotemporal time series using the coupled logistic map lattice as
a case study. It was found that including both spatial and temporal information
improved the performance of the fitted models. However, the superiority of spatiotemporal
embeddings over individual time series was found to be defined for
certain choices of the spatial and temporal embedding parameters.<br>AFRIKAANSE OPSOMMING: Fisiese stelsels wat in prosesingenieurswese voorkom is dikwels nie goed gedefinieer
nie, multiveranderlik en vertoon komplekse nie-lineˆere gedrag. Toenemende vereistes
vir ho¨e prosesdoeltreffendheid en produkgehalte het gelei tot die ontwikkeling en implementering
van gevorderde beheerstrategie¨e vir prosesaanlegte. Hierdie morderne
beheerstrategie¨e is gebaseer op die gebruik van wiskundige prosesmodelle. Lineˆere
modelle word gewoonlik ontwikkel, al is die onderliggende prosesmeganismes in die
algemeen nie-lineˆere, aangesien lineˆere stetselteorie goed gevestig is, en nie-line¨ere
stelselteorie nie. Onlangse verwikkelinge in die teorie van nie-lineˆeredinamiese
stelsels bied egter geleenthede vir verbeterde modellering van prosesstelsels. Dit
is bekend dat ‘n nie-lineˆere beskrywing van ‘n progses verkry kan word deur tydvertraagde
kopie¨e van metings van die prosesse te rekonstrueer. Met die lae seintot-
geraasverhoudings wat met gemete data geassosieer word, is dit logies om die
oortollige informasie in meerveranderlike seine te benut tydens die rekonstruksie
van die onderliggende prosesdinamika.
In die tesis is die uitbreiding van enkel-veranderlike nie-lineˆere tydreeksontleding
na meer-veranderlike stelsels ondersoek. Met data van twee aaneengeskakelde
gesimuleerde geroerde tenkreaktore en werklike data van ‘n flottasieproses, is die
meriete van enkel- en meerveranderlike rekonstruksies van toestandruimtes ondersoek.
Meerveranderlike surrogaatdata-ontleding het nie-lineariteite in die data op
‘n meer robuuste wyse ge¨ıdentifiseer, a.g.v. die behoud van kruis-korrelasies in die
komponente van die data. Meerveranderlike lokale lineˆere modelle het ‘n deterministiese
struktuur in beide klein en groot naasliggende omgewings ge¨ıdentifiseer, terwyl
enkelveranderlike metodes dit slegs vir klein naasliggende omgewings kon doen.
Nie-uniforme meerveranderlike inbeddings het lokale lineˆere modelle gegenereer wat
soos globale modelle afkomstig van triviale rekonstruksies van die data gelyk het.
M.b.t globale nie-lineˆere modellering, het meerveranderlike inbedding deurgaans beter modelle opgelewer. Verdere verbetering in die prestasie van modelle kon
verkry word d.m.v. meerveranderlike nie-uniforme inbedding.
‘n Relatief nuwe statistiese algoritme, die kleinste-kwadrate-steunvektormasjien
(KKSVM) is ge¨evalueer teenoor multilaag-perseptrons (MLP) as ‘n standaard vir
die modellering van nie-lineˆere tydreekse, deur gebruik te maak van gesimuleerde en
werklike aanlegdata. Daar is gevind dat die KKSVM beter presteer het as die MLPs
wanneer die opeenvolgende waarnemings swak gekorreleer en min was relatief tot
die aantal veranderlikes. Die KKSVMs het beduidend langer geneem as die MLPs
om te ontwikkel. Hulle was ook minder sensitief vir die metodes wat gevolg is om
die dimensionaliteit van die data te verlaag, anders as die MLPs. Ook is gevind dat
meer komplekse metodes tot die verlaging van die dimensionaliteit weinig nut gehad
het. Geen algemene gevolgtrekkings kan egter gemaak word m.b.t die verskillende
modelle nie.
Ruimtelik-temporale strukture word algemeen waargeneem in baie chemiese
stelsels, soos reaktiewe diffusie e.a. patroonvormende sisteme. Die modellering van
ruimtelik-temporale stelsels is bestudeer aan die hand van ‘n gekoppelde logistiese
projeksierooster. Insluiting van beide die ruimtelike en temporale inligting het tot
beduidend beter modelle gelei, solank as wat di´e inligting op die regte wyse ontsluit
is.
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Budolak, Daniel Wojciech. "Extending the Capabilities of Time Delayed Haptic Teleoperation Systems." Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/104995.
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This thesis focuses on making improvements to time-delayed teleoperation systems, with both direct and semi-autonomous haptic control, by addressing the challenges associated with force-position (F-P) predictive architectures. As the time delay from the communication channel increases, system stability and performance degrade. Previously, solutions focused on communication channel stability and environment force estimation methods that primarily rely on linearization of the Hunt-Crossley (HC) contact model. These result in a loss of transparency in the system and limiting use cases from linearization assumptions. Moreover, semi-autonomous solutions aimed at decreasing user effort and automating subtasks, such as obstacle avoidance and user guidance, require training or singularly focus on joint space tasks.
This work addresses the shortcomings of the aforementioned methods by refocusing on system components to achieve more favorable dynamics during environment contact with the use of a series elastic actuator (SEA), investigating alternative HC parameter estimation techniques, and synthesizing an assistive semi-autonomous control framework that predicts user intention recognition and automates gross motion tasks. Experimental results with a remote SEA demonstrate improved performance with stiff environments in delays of up to two seconds round trip time. The coupling of the force and position through the actuator along with simultaneous sensing capabilities also show robustness for contact with soft environments. Further improvements with soft environment contact are achieved through HC parameter estimation, with smooth parameter update switching using a Sigmoid function. A novel application of Chebyshev polynomial approximation for adaptive parameter estimation of the HC model was also proposed. This approach provides control via backstepping with adaptive parameter estimation using Lyapunov methods. Additionally, this method reduces excitation requirements by using nonlinear swapping and the data accumulation concept to guarantee parameter convergence. A simulated teleoperation system demonstrates the effectiveness of this approach and initial results from experiment show promise for this approach in practice. Finally, a user study involving a pick and place task produced favorable results for the proposed semi-autonomous framework which significantly reduced task completion times.<br>Master of Science<br>Teleoperated systems are powerful solutions for remotely executing tasks in situations where autonomous solutions are not robust enough and/or user knowledge is desired for a task. However, teleoperation performance and stability is degraded by delays in the communication channel. A common way to deal with time delay is to use a predictive controller on the local side to cancel out the delay by knowing the remote side dynamics. Previous approaches have focused on stabilizing the communication channel or the use of estimators and observers to better capture the remote side dynamics. The drawback of these approaches is that they achieve stability at the expense of system transparency, leading to divergence in the force and position matching between the master and remote side. Many of the methods for environment force estimation involves linearizing contact models, creating limitations in their application. Moreover, semi-autonomous solutions aimed at decreasing user effort and automating subtasks such as obstacle avoidance and user guidance require training data sets for the algorithm or only focus individually on joint space tasks. This thesis addresses the shortcomings of the aforementioned methods by refocusing on system components to achieve more favorable dynamics using a series elastic actuator (SEA) while interacting with the environment, investigating nonlinear and linear contact model estimation methods for identifying parameters of the Hunt-Crossley (HC) model, and synthesising an assistive semi-autonomous control framework that predicts user intention for task execution. Experimental results for the use of an SEA demonstrate improved performance with stiff environments in delays of up to two seconds round trip time (RTT). The coupling of the force and position through the actuator along with simultaneous sensing capabilities also showed robustness for contact with soft environments. Various estimation methods for HC parameter identification was investigated to improve the local side model. A novel application of Chebyshev polynomial approximation of the HC model with adaptive parameter estimation was also proposed to provide control along with decreasing the excitation requirements by using backsteping control with nonlinear swapping and the data accumulation concept. A simulated teleoperation system demonstrated the effectiveness of this approach with a smooth paramater update transition. Initial results from experiment also show promise for this approach in practice. Finally, a user study involving a pick and place task produced favorable results for the proposed semi-autonomous framework which significantly reduced task completion times.
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Nazir, Mohammad Nawaf. "Control of Power Flow in Transmission Lines using Distributed Series Reactors." Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/52978.
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Distributed Series Reactors (DSRs) can be used to control power flow to more fully utilize the capacity of a transmission network, delaying investment in new transmission lines. In this study the IEEE 39 bus standard test system is modified to a 3-phase, unbalanced model consisting of 230 kV, 345 kV and 500 kV lines, where lines of different voltage run in parallel. This model is used to study load growth and the effect of adding DSRs to alleviate resulting overloads, and in particular to alleviate overloads on lines of different voltage running in parallel. The economic benefit of adding DSRs to the network is compared to the addition of new transmission lines in the network. In the second part of the work, the effect of unsymmetrical operation of DSRs on a single transmission line is studied and compared to the symmetrical operation of DSRs. It is found that the unsymmetrical operation of DSRs is more economical. Finally the unsymmetrical operation of DSRs to reduce voltage imbalance in the network is considered.<br>Master of Science
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Püllen, Lukas [Verfasser]. "Development of a Detector Control System for the serially powered ATLAS pixel detector at the HL-LHC / Lukas Püllen." Wuppertal : Universitätsbibliothek Wuppertal, 2015. http://d-nb.info/1067209026/34.
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Tam, Wai-keung Paulus, and 譚偉強. "The application of ISO 9000 quality assurance system in Hong Kong's planning industry." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1999. http://hub.hku.hk/bib/B31260081.
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Milosavljevic, Ivana. "Power Electronics System Communications." Thesis, Virginia Tech, 1999. http://hdl.handle.net/10919/31218.
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This work investigates communication issues in high-frequency power converters. A novel control communication network (Power Electronics System Network or PES Net) is proposed for modular, medium and high-power, converters. The network protocol, hardware and software are designed and implemented. The PES Net runs at 125 Mb/s over plastic optical fiber allowing converter switching frequencies in excess of 100 kHz. Communication control is implemented in a field programmable gate array device. A novel synchronization method applicable to ring networks is proposed. The effect of the communication delay on the power converter operation is studied.<br>Master of Science
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Johansson, Nicklas. "Aspects on Dynamic Power Flow Controllers and Related Devices for Increased Flexibility in Electric Power Systems." Doctoral thesis, KTH, Elektriska maskiner och effektelektronik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-37823.
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This thesis studies different aspects of Flexible AC Transmission System (FACTS) devices which are used to improve the power transfer capability and increase the controllability in electric power systems. In the thesis, different aspects on the usage and control of Dynamic Power Flow Controllers (DPFC) and related FACTS devices are studied. The DPFC is a combination of a Phase Shifting Transformer (PST) and a Thyristor Switched Series Capacitor (TSSC)/Thyristor Switched Series Reactor (TSSR). The thesis proposes and studies a new method, the Ideal Phase-Shifter (IPS) method, for selection and rating of Power Flow Controllers (PFC) in a power grid. The IPS method, which is based on steady-state calculations, is proposed as a first step in the design process for a PFC. The method uses the Power controller plane, introduced by Brochu et al in 1999. The IPS method extends the usage of decoupling methods in the Power controller plane to a power system of arbitrary size. The IPS method was in the thesis used to compare the ratings of different PFC:s required to improve the power transfer capability in two test systems. The studied devices were here the PST, the TSSC/TSSR and the DPFC. The thesis treats control of ideal Controlled Series Capacitors (CSC), TCSC, TSSC/TSSR, and DPFC. The goals of the FACTS controllers which are developed are Power Oscillation Damping (POD), fast power flow control, and transient stability improvement in the power system. New adaptive control strategies for POD and power flow control are proposed and studied in different models of power systems by time-domain simulations. A strategy for transient stability improvement is also proposed and studied. Additionally, different methods for study of Subsynchronous Resonance (SSR), which is associated with series compensation in power systems, are investigated. Here, four of the most common methods for frequency scanning to determine the electrical damping of subsynchronous oscillations in a power grid are studied. The study reveals significant differences of the electrical damping estimates of the studied standard methods when applied to a four-machine test system.<br>QC 20110819
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Worthington, Jeremiah. "Analyzing three quality management systems in relation to the Malcolm Baldrige National Quality Award." CSUSB ScholarWorks, 2005. https://scholarworks.lib.csusb.edu/etd-project/2855.
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This paper explores different quality management systems (QMS) and correlates their value in achieving success as measured by the Malcolm Baldrige Award. The three major quality management systems were reviewed, International Organization of Standards (ISO), Total Quality Management (TQM) and Six Sigma. Quality management systems are the single most powerful tool that a company can establish to create a sucessful organization.
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Del, Real Tamariz Annabell. "Modelagem computacional de dados e controle inteligente no espaço de estado." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260207.
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Orientador: Celso Pascoli Bottura<br>Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação<br>Made available in DSpace on 2018-08-04T18:33:31Z (GMT). No. of bitstreams: 1
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Previous issue date: 2005<br>Resumo: Este estudo apresenta contribuições para modelagem computacional de dados multivariáveis no espaço de estado, tanto com sistemas lineares invariantes como com variantes no tempo. Propomos para modelagem determinística-estocástica de dados ruidosos, o Algoritmo MOESP_AOKI. Propomos, utilizando Redes Neurais Recorrentes multicamadas, algoritmos para resolver a Equação Algébrica de Riccati Discreta bem como a Inequação Algébrica de Riccati Discreta, via Desigualdades Matriciais Lineares. Propomos um esquema de controle adaptativo com Escalonamento de Ganhos, baseado em Redes Neurais, para sistemas multivariáveis discretos variantes no tempo, identificados pelo algoritmo MOESP_VAR, também proposto nesta tese. Em síntese, uma estrutura de controle inteligente para sistemas discretos multivariáveis variantes no tempo, através de uma abordagem que pode ser chamada ILPV (Intelligent Linear Parameter Varying), é proposta e implementada. Um controlador LPV Inteligente, para dados computacionalmente modelados pelo algoritmo MOESP_VAR, é concretizado, implementado e testado com bons resultados<br>Abstract: This study presents contributions for state space multivariable computational data modelling with discrete time invariant as well as with time varying linear systems. A proposal for Deterministic-Estocastica Modelling of noisy data, MOESP_AOKI Algorithm, is made. We present proposals forsolving the Discrete-Time Algebraic Riccati Equation as well as the associate Linear Matrix Inequalityusing a multilayer Recurrent Neural Network approaches. An Intelligent Linear Parameter Varying(ILPV) control approach for multivariable discrete Linear Time Varying (LTV) systems identified bythe MOESP_VAR algorithm, are both proposed. A gain scheduling adaptive control scheme based on neural networks is designed to tune on-line the optimal controllers. In synthesis, an Intelligent Linear Parameter Varying (ILPV) Control approach for multivariable discrete Linear Time Varying Systems (LTV), identified by the algorithm MOESP_VAR, is proposed. This way an Intelligent LPV Control for multivariable data computationally modeled via the MOESP_VAR algorithm is structured, implemented and tested with good results<br>Doutorado<br>Automação<br>Doutor em Engenharia Elétrica
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Barreto, Guilherme de Alencar. "Redes neurais não-supervisionadas temporais para identificação e controle de sistemas dinâmicos." Universidade de São Paulo, 2003. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-25112015-115752/.
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A pesquisa em redes neurais artificiais (RNAs) está atualmente experimentando um crescente interesse por modelos que utilizem a variável tempo como um grau de liberdade extra a ser explorado nas representações neurais. Esta ênfase na codificação temporal (temporal coding) tem provocado debates inflamados nas neurociências e áreas correlatas, mas nos últimos anos o surgimento de um grande volume de dados comportamentais e fisiológicos vêm dando suporte ao papel-chave desempenhado por este tipo de representação no cérebro [BALLARD et al. (1998)]. Contribuições ao estudo da representação temporal em redes neurais vêm sendo observadas nos mais diversos tópicos de pesquisa, tais como sistemas dinâmicos não-lineares, redes oscilatórias, redes caóticas, redes com neurônios pulsantes e redes acopladas por pulsos. Como conseqüência, várias tarefas de processamento da informação têm sido investigada via codificação temporal, a saber: classificação de padrões, aprendizagem, memória associativa, controle sensório-motor, identificação de sistemas dinâmicos e robótica. Freqüentemente, porém, não fica muito claro até que ponto a modelagem dos aspectos temporais de uma tarefa contribui para aumentar a capacidade de processamento da informação de modelos neurais. Esta tese busca apresentar, de uma maneira clara e abrangente, os principais conceitos e resultados referentes à proposição de dois modelos de redes neurais não-supervisionadas (RNATs), e como estas lançam mão da codificação temporal para desempenhar melhor a tarefa que lhes é confiada. O primeiro modelo, chamado rede competitiva Hebbiana temporal (competitive temporal Hebbian - CTH), é aplicado especificamente em tarefas de aprendizagem e reprodução de trajetórias do robô manipulador PUMA 560. A rede CTH é uma rede neural competitiva cuja a principal característica é o aprendizado rápido, em apenas uma época de treinamento, de várias trajetórias complexas contendo ) elementos repetidos. As relações temporais da tarefa, representadas pela ordem temporal da trajetória, são capturadas por pesos laterais treinados via aprendizagem hebbiana. As propriedades computacionais da rede CTH são avaliadas através de simulações, bem como através da implementação de um sistema de controle distribuído para o robô PUMA 560 real. O desempenho da rede CTH é superior ao de métodos tabulares (look-up table) tradicionais de aprendizagem de trajetórias robóticas e ao de outras técnicas baseadas em redes neurais, tais como redes recorrentes supervisionadas e modelos de memória associativa bidirecional (BAM). O segundo modelo, chamado rede Auto-Organizável NARX (Self-Organizing NARX-SONARX), é baseado no conhecido algoritmo SOM, proposto por KOHONEN (1997). Do ponto de vista computacional, as propriedades de rede SONARX são avaliadas em diferentes domínios de aplicação, tais como predição de séries temporais caóticas, identificação de um atuador hidráulico e no controle preditivo de uma planta não-linear. Do ponto de vista teórico, demonstra-se que a rede SONARX pode ser utilizada como aproximador assintótico de mapeamentos dinâmicos não-lineares, graças a uma nova técnica de modelagem neural, chamada Memória Associativa Temporal via Quantização Vetorial (MATQV). A MATQV, assim como a aprendizagem hebbiana da rede CTH, é uma técnica de aprendizado associativo temporal. A rede SONARX é comparada com modelos NARX supervisionados, implementados a partir das redes MLP e RBF. Em todos os testes realizados para cada uma das tarefas citadas no parágrafo anterior, a rede SONARX tem desempenho similar ou melhor do que o apresentado por modelos supervisionados tradicionais, com um custo computacional consideravelmente menor. A rede SONARX é também comparada com a rede CTH na parendizagem de trajetórias robóticas complexas, com o intuito de destacar as principais diferenças entre os dois ) tipos de aprendizado associativo. Esta tese também propõe uma taxonomia matemática, baseada na representação por espaço de estados da teoria de sistemas, que visa classificar redes neurais não-supervisionadas temporais com ênfase em suas propriedades computacionais. Esta taxonomia tem como principal objetivo unificar a descrição de modelos neurais dinâmicos, facilitando a análise e a comparação entre diferentes arquiteturas, contrastando suas características representacionais e operacionais. Como exemplo, as redes CTH e a SONARX serão descritas usando a taxonomia proposta.<br>Neural network research is currently witnessing a significant shift of emphasis towards temporal coding, which uses time as an extra degree of freedom in neural representations. Temporal coding is passionately debated in neuroscience and related fields, but in the last few years a large volume of physiological and behavioral data has emerged that supports a key role for temporal coding in the brain [BALLARD et al. (1998)]. In neural networks, a great deal of research is undertaken under the topics of nonlinear dynamics, oscillatory and chaotic networks, spiking neurons, and pulse-coupled networks. Various information processing tasks are investigated using temporal coding, including pattern classification, learning, associative memory, inference, motor control, dynamical systems identification and control, and robotics. Progress has been made that substantially advances the state-of-the-art of neural computing. In many instances, however, it is unclear whether, and to what extent, the temporal aspects of the models contribute to information processing capabilities. This thesis seeks to present, in a clear and collective way, the main issues and results regarding the proposal of two unsupervised neural models, emphasizing how these networks make use of temporal coding to perform better in the task they are engaged in. The first model, called Competitive Temporal Hebbian (CTH) network, is applied specifically to learning and reproduction of trajectories of a PUMA 560 robot. The CTH model is a competitive neural network whose main characteristic is the fast learning, in just one training epoch, of multiple trajectories containing repeated elements. The temporal relationships within the task, represented by the temporal order of the elements of a given trajectory, are coded in lateral synaptic trained with hebbian learning. The computational properties of the CTH network are assessed through simulations, as well ) as through the practical implementation of a distributed control system for the real PUMA 560 robot. The CTH performs better than conventional look-up table methods for robot trajectory learning, and better than other neural-based techniques, such as supervised recurrent networks and bidirectional associative memory models. The second model, called Self-Organizing NARX (SONARX) network, is based on the well-known SOM algorithm by KOHONEN (1997). From the computational view-point, the properties of the SONARX model are evaluated in different application domains, such as prediction of chaotic time series, identification of an hydraulic actuator and predictive control of a non-linear plant. From the theoretic viewpoint, it is shown that the SONARX model can be seen as an asymptotic approximator for nonlinear dynamical mappings, thanks to a new neural modelling technique, called Vector-Quantized Temporal Associative Memory (VQTAM). This VQTAM, just like the hebbian learning rule of the CTH network, is a temporal associative memory techniques. The SONARX network is compared with supervised NARX models which based on the MLP and RBF networks. For all simulations, in each one of the forementioned application domains, the SONARX network had a similar and sometimes better performance than those observed for standard supervised models, with the additional advantage of a lower computational cost. The SONARX model is also compared with the CTH network in trajectory reproduction tasks, in order to contrast the main differences between these two types of temporal associative learning models. In this thesis, it is also proposed a mathematical taxonomy, based on the state-space representation of dynamical systems, for classification of unsupervised temporal neural networks with emphasis in their computational properties. The main goal of this taxonomy is to unify the description of dynamic neural models, ) facilitating the analysis and comparison of different architectures by constrasting their representational and operational characteristics. Is is shown how the CTH and SONARX models can be described using the proposed taxonomy.
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Yang, Ruochen. "Diagnosis of Evaporative Emissions Control System Using Physics-based and Machine Learning Methods." The Ohio State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=osu1587651390226087.
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Lin, Yang. "Design and develop a documentation system which is in compliance with ISO 9000 and QS 9000 element 4.11-control of inspection, measuring, and test equipment." Online version, 1998. http://www.uwstout.edu/lib/thesis/1998/1998liny.pdf.
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Hadjikypris, Melios. "Supervisory control scheme for FACTS and HVDC based damping of inter-area power oscillations in hybrid AC-DC power systems." Thesis, University of Manchester, 2016. https://www.research.manchester.ac.uk/portal/en/theses/supervisory-control-scheme-for-facts-and-hvdc-based-damping-of-interarea-power-oscillations-in-hybrid-acdc-power-systems(cc03b44a-97f9-44ec-839f-5dcbcf2801f1).html.
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Modern interconnected power systems are becoming highly complex and sophisticated, while increasing energy penetrations through congested inter-tie lines causing the operating point approaching stability margins. This as a result, exposes the overall system to potential low frequency power oscillation phenomena following disturbances. This in turn can lead to cascading events and blackouts. Recent approaches to counteract this phenomenon are based on utilization of wide area monitoring systems (WAMS) and power electronics based devices, such as flexible AC transmission systems (FACTS) and HVDC links for advanced power oscillation damping provision. The rise of hybrid AC-DC power systems is therefore sought as a viable solution in overcoming this challenge and securing wide-area stability. If multiple FACTS devices and HVDC links are integrated in a scheme with no supervising control actions considered amongst them, the overall system response might not be optimal. Each device might attempt to individually damp power oscillations ignoring the control status of the rest. This introduces an increasing chance of destabilizing interactions taking place between them, leading to under-utilized performance, increased costs and system wide-area stability deterioration. This research investigates the development of a novel supervisory control scheme that optimally coordinates a parallel operation of multiple FACTS devices and an HVDC link distributed across a power system. The control system is based on Linear Quadratic Gaussian (LQG) modern optimal control theory. The proposed new control scheme provides coordinating control signals to WAMS based FACTS devices and HVDC link, to optimally and coherently counteract inter-area modes of low frequency power oscillations inherent in the system. The thesis makes a thorough review of the existing and well-established improved stability practises a power system benefits from through the implementation of a single FACTS device or HVDC link, and compares the case –and hence raises the issue–when all active components are integrated simultaneously and uncoordinatedly. System identification approaches are also in the core of this research, serving as means of reaching a linear state space model representative of the non-linear power system, which is a pre-requisite for LQG control design methodology.
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Johal, Harjeet. "Distributed series reactance a new approach to realize grid power flow control /." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/26713.
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Thesis (Ph.D)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.<br>Committee Chair: Divan, Deepakraj M.; Committee Member: Begovic, Miroslav M.; Committee Member: Brown, Marilyn; Committee Member: Harley, Ronald G.; Committee Member: Wolf, Wayne H. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Kommaraju, Mallik. "Predictor development for controlling real-time applications over the Internet." Texas A&M University, 2005. http://hdl.handle.net/1969.1/4813.
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Over the past decade there has been a growing demand for interactive multimedia
applications deployed over public IP networks. To achieve acceptable Quality of Ser-
vice (QoS) without significantly modifying the existing infrastructure, the end-to-end
applications need to optimize their behavior and adapt according to network char-
acteristics. Most existing application optimization techniques are based on reactive
strategies, i.e. reacting to occurrences of congestion. We propose the use of predic-
tive control to address the problem in an anticipatory manner. This research deals
with developing models to predict end-to-end single flow characteristics of Wide Area
Networks (WANs).
A novel signal, in the form of single flow packet accumulation, is proposed for
feedback purposes. This thesis presents a variety of effective predictors for the above
signal using Auto-Regressive (AR) models, Radial Basis Functions (RBF) and Sparse
Basis Functions (SBF). The study consists of three sections. We first develop time-
series models to predict the accumulation signal. Since encoder bit-rate is the most
logical and generic control input, a statistical analysis is conducted to analyze the
effect of input bit-rate on end-to-end delay and the accumulation signal. Finally,
models are developed using this bit-rate as an input to predict the resulting accu-
mulation signal. The predictors are evaluated based on Noise-to-Signal Ratio (NSR)
along with their accuracy with increasing accumulation levels. In time-series models, RBF gave the best NSR closely followed by AR models. Analysis based on accu-
racy with increasing accumulation levels showed AR to be better in some cases. The
study on effect of bit-rate revealed that bit-rate may not be a good control input on
all paths. Models such as Auto-Regressive with Exogenous input (ARX) and RBF
were used to develop models to predict the accumulation signal using bit-rate as a
modeling input. ARX and RBF models were found to give comparable accuracy, with
RBF being slightly better.
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Rocha, Eugénio Alexandre Miguel. "Uma Abordagem Algébrica à Teoria de Controlo Não Linear." Doctoral thesis, Universidade de Aveiro, 2003. http://hdl.handle.net/10773/21444.
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Doutoramento em Matemática<br>Nesta tese de Doutoramento desenvolve-se principalmente uma abordagem
algébrica à teoria de sistemas de controlo não lineares. No entanto, outros
tópicos são também estudados. Os tópicos tratados são os seguidamente
enunciados: fórmulas para sistemas de controlo sobre álgebras de Lie livres,
estabilidade de um sistema de corpos rolantes, algoritmos para aritmética
digital, e equações integrais de Fredholm não lineares.
No primeiro e principal tópico estudam-se representações para as soluções
de sistemas de controlo lineares no controlo. As suas trajetórias são representadas
pelas chamadas séries de Chen. Estuda-se a representação formal
destas séries através da introdução de várias álgebras não associativas e
técnicas específicas de álgebras de Lie livres. Sistemas de coordenadas para
estes sistemas são estudados, nomeadamente, coordenadas de primeiro tipo
e de segundo tipo. Apresenta-se uma demonstração alternativa para as
coordenadas de segundo tipo e obtêm-se expressões explícitas para as coordenadas
de primeiro tipo. Estas últimas estão intimamente ligadas ao
logaritmo da série de Chen que, por sua vez, tem fortes relações com
uma fórmula designada na literatura por “continuous Baker-Campbell-
Hausdorff formula”. São ainda apresentadas aplicações à teoria de funções
simétricas não comutativas. É, por fim, caracterizado o mapa de monodromia
de um campo de vectores não linear e periódico no tempo em relação
a uma truncatura do logaritmo de Chen.
No segundo tópico é estudada a estabilizabilidade de um sistema de quaisquer
dois corpos que rolem um sobre o outro sem deslizar ou torcer.
Constroem-se controlos fechados e dependentes do tempo que tornam a
origem do sistema de dois corpos num sistema localmente assimptoticamente
estável. Vários exemplos e algumas implementações em Maple°c
são discutidos.
No terceiro tópico, em apêndice, constroem-se algoritmos para calcular o
valor de várias funções fundamentais na aritmética digital, sendo possível
a sua implementação em microprocessadores. São também obtidos os seus
domínios de convergência.
No último tópico, também em apêndice, demonstra-se a existência e unicidade
de solução para uma classe de equações integrais não lineares com
atraso. O atraso tem um carácter funcional, mostrando-se ainda a diferenciabilidade
no sentido de Fréchet da solução em relação à função de atraso.<br>In this PhD thesis several subjects are studied regarding the following topics:
formulas for nonlinear control systems on free Lie algebras, stabilizability
of nonlinear control systems, digital arithmetic algorithms, and nonlinear
Fredholm integral equations with delay.
The first and principal topic is mainly related with a problem known as the
continuous Baker-Campbell-Hausdorff exponents. We propose a calculus
to deal with formal nonautonomous ordinary differential equations evolving
on the algebra of formal series defined on an alphabet. We introduce and
connect several (non)associative algebras as Lie, shuffle, zinbiel, pre-zinbiel,
chronological (pre-Lie), pre-chronological, dendriform, D-I, and I-D. Most of
those notions were also introduced into the universal enveloping algebra of
a free Lie algebra. We study Chen series and iterated integrals by relating
them with nonlinear control systems linear in control. At the heart of
all the theory of Chen series resides a zinbiel and shuffle homomorphism
that allows us to construct a purely formal representation of Chen series
on algebras of words. It is also given a pre-zinbiel representation of the
chronological exponential, introduced by A.Agrachev and R.Gamkrelidze
on the context of a tool to deal with nonlinear nonautonomous ordinary
differential equations over a manifold, the so-called chronological calculus.
An extensive description of that calculus is made, collecting some
fragmented results on several publications. It is a fundamental tool of
study along the thesis. We also present an alternative demonstration
of the result of H.Sussmann about coordinates of second kind using
the mentioned tools. This simple and comprehensive proof shows that
coordinates of second kind are exactly the image of elements of the dual
basis of a Hall basis, under the above discussed homomorphism. We obtain
explicit expressions for the logarithm of Chen series and the respective
coordinates of first kind, by defining several operations on a forest of
leaf-labelled trees. It is the same as saying that we have an explicit
formula for the functional coefficients of the Lie brackets on a continuous
Baker-Campbell-Hausdorff-Dynkin formula when a Hall basis is used. We
apply those formulas to relate some noncommutative symmetric functions,
and we also connect the monodromy map of a time-periodic nonlinear
vector field with a truncation of the Chen logarithm.
On the second topic, we study any system of two bodies rolling one
over the other without twisting or slipping. By using the Chen logarithm
expressions, the monodromy map of a flow and Lyapunov functions, we
construct time-variant controls that turn the origin of a control system
linear in control into a locally asymptotically stable equilibrium point.
Stabilizers for control systems whose vector fields generate a nilpotent Lie
algebra with degree of nilpotency · 3 are also given. Some examples are
presented and Maple°c were implemented.
The third topic, on appendix, concerns the construction of efficient
algorithms for Digital Arithmetic, potentially for the implementation in
microprocessors. The algorithms are intended for the computation of
several functions as the division, square root, sines, cosines, exponential,
logarithm, etc. By using redundant number representations and methods
of Lyapunov stability for discrete dynamical systems, we obtain several
algorithms (that can be glued together into an algorithm for parallel execution)
having the same core and selection scheme in each iteration. We also prove
their domains of convergence and discuss possible extensions.
The last topic, also on appendix, studies the set of solutions of a class
of nonlinear Fredholm integral equations with general delay. The delay
is of functional character modelled by a continuous lag function. We
ensure existence and uniqueness of a continuous (positive) solution of such
equation. Moreover, under additional conditions, it is obtained the Fr´echet
differentiability of the solution with respect to the lag function.
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Tempelhahn, Conny. "Evaluierung des Einsparpotentials durch Energierückgewinnung aus dem hybraulischen Kreislauf eines Hafenmobilkrans." Master's thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2014. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-144656.
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Im Zuge strenger werdender Emissionsrichtlinien und steigender Kraftstoffpreise spielt die Energieeffizienz mobiler Arbeitsmaschinen eine zunehmend wichtigere Rolle. Die Firma Gottwald Port Technology GmbH hat in diesem Zusammenhang einen hybriden Antriebsstrang für einen Hafenmobilkran (HMK) in Zusammenarbeit mit der Technischen Universität Dresden erforscht und umgesetzt. Bei diesem Hybridsystem wird die kinetische und potentielle Energie aus dem elektrischen Hub- und Drehwerk des Krans, welche zuvor im Bremswiderstand in Wärme umgewandelt wurde, durch einen elektrischen Energiespeicher zurückgewonnen. Im Gegensatz dazu ist das hydraulisch betriebene Wippwerk noch nicht rückspeisefähig. Ziel dieser Arbeit ist die Identifikation einer technischen Lösung zur Energierückgewinnung aus der hydraulischen Anlage eines HMK und die Bewertung des erreichbaren Kraftstoffeinsparpotentials. Zunächst wird das bestehende hydraulische System untersucht, um die Anforderungen an das rückspeisefähige Konzept zu ermitteln. Dazu werden Modelle der Kinematik und Kinetik des Wippwerks abgeleitet. Anhand einer Entscheidungsanalyse wird ein hydraulisches Konzept aus einem Katalog verfügbarer Alternativen ausgewählt. Im Anschluss daran wird ein energieflussbasiertes Modell des Konzepts in Matlab/Simulink erstellt und in das bestehende Simulationsmodell integriert. Die Simulationsergebnisse zeigen ein großes Einsparpotential an Dieselkraftstoff durch den Einsatz des rückspeisefähigen Hydrauliksystems<br>Due to stricter emission restrictions and rising fuel costs energy efficiency of mobile work machines is getting more important. In cooperation with Dresden University of Technology, Gottwald Port Technology GmbH has developed a mobile harbour crane with a hybrid drive train. This system can recuperate the kinetic and potential energy from the electrical slewing and hoisting gear, which was formerly dissipated to heat. This paper deals with the identification of a technical solution to recuperate energy form the hydraulic luffing gear to determine the potential reduction of fuel consumption. At first, the actual hydraulic system is analyzed to estimate the requirements of the new recuperation system. For that purpose, models of the kinematics and kinetics of the luffing gear are created. With the help of weighted criteria, a hydraulic concept is chosen of several alternatives. Afterwards, an energy flow based model in Simulink/Matlab is created and integrated in the existing simulation model of the crane. The simulation results confirm a considerable reduction of diesel fuel due to the application of hydraulic recuperation system
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Fristedt, Erika, and Malin Gustavsson. "Styrningens roll vid en strategiförändring : - från eftermarknad till att inkludera serieproduktion." Thesis, Linnéuniversitetet, Institutionen för ekonomistyrning och logistik (ELO), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-85753.
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Abstrakt Bakgrund: Bilindustrin står i dagsläget mitt i en omstrukturering av marknaden, där ansvar för produktion av detaljer förflyttas från biltillverkarna till underleverantörerna. Med denna omstrukturering följer högre krav på kvalitetsnivå och kostnadspress som underleverantörerna måste förhålla sig till. Fallföretaget (Företag X) gjorde cirka 2015 en strategiförändring från att enbart tillverka detaljer till reservdelsmarknaden (eftermarknad) till att även producera till nybilsmarknaden (serieproduktion) där målet var att skapa tillväxt och lönsamhet. Efter strategiförändringen har Företag X vuxit snabbt, men samtidigt har lönsamheten sjunkit till att 2018 vara obefintlig. Affärerna som upphandlas uppvisar positiva marginaler, vilket skapar förvirring i företaget om orsakerna bakom de finansiella prestationerna. Någonstans i deras processer sker något som styrningen inte fångar eller förvarnar om. Syfte: Syftet med studien är att kartlägga strategiförändringen, implementeringen och Företag X:s styrning för att skapa en ökad förståelse för hur styrning kan stödja en strategiförändring från eftermarknad till att även inkludera serieproduktion. Vidare skall studien bidra med rekommendationer för kritiska egenskaper i styrningen som behöver fokuseras på i samband med en strategiförändring. Ett bidrag skapas även genom att avbilda den resa Företag X har genomgått och vilka utmaningar den har bidragit med. Metod: Studien grundas i en fallstudie på Företag X, där en växling mellan referensramen och den empiriska insamlingen har nyttjats för att möjliggöra en justering av referensramen för att matcha studiens riktning. Genom att använda metoderna kunde vi uppfylla syftet med studien och därmed skapa ett relevant, teoretiskt bidrag till forskningen. Resultat: Företag X:s styrning fångar inte beslutsrelevant information och därmed skapas en problematik i företaget. De måste förtydliga styrningen utefter de rekommendationer som delges. Vidare är de kritiska egenskaperna som behöver fokuseras på i styrningen: stödjande, signalerande, diagnostiserande, säkerställande, informationsspridande och motivationsskapare.<br>Abstract Background: The automobile industry is currently experiencing a reconstructuring of the market, where the responsibility of detail production is transferred between the car manufacturers to their subcontractors. The transference of responsibility also includes an increase in demand from the car manufacturers to the subcontractors to deliver higher quality products at a low cost. The case company (Company X) changed their strategy 2015 to include new car manufacturing in their already existing spare-part production with the intention to create growth and profitability. After the strategic change Company X has grown rapidly, but at the same time profitability has decreased and 2018 the profitability was non-existent. The business agreements show positive margins, which creates confusion in the company about is causing the decrease in financial performance. Somewhere in their processes something is happening that the management control systems aren’t capturing or warn about. Purpose: The purpose of the study is to map the strategy change, implementation and Company X's management control to create an increased understanding of how management control can support a strategy change from only producing spare-parts to also include manufacturing of new cars. Furthermore, the study will contribute with recommendations for critical features of management control that needs to be focused upon during strategic change. A contribution is also created by depicting the journey that Company X has undergone and what challenges it has contributed with. Method: The study is based on a case study of Company X, where an iteration between the reference frame and the empirical collection took place to enable an adjustment of the reference frame to match the direction of the study. By utilizing the methods, we were able to fulfill the purpose of the study and thereby create a relevant, theoretical contribution to the research. Conclusion: Company X's management control does not capture decision-relevant information and thus problems are created within the organization. They ought to change their management control in accordance to the recommendations. Furthermore, the critical features that need to be focused on are: supportive, signaling, diagnosing, securing, information spreading and motivation creator.
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Silva, Leonardo de Araujo. "Sintese de indutancia negativa para aplicação serie em redes de energia eletrica." [s.n.], 2007. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260861.
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Orientador: Jose Antenor Pomilio<br>Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação<br>Made available in DSpace on 2018-08-09T17:17:10Z (GMT). No. of bitstreams: 1
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Previous issue date: 2007<br>Resumo: Nesta tese é introduzida uma nova estratégia de controle que permite a síntese de indutâncias negativas para realização da compensação série de linhas de transmissão. O método, que é baseado na estratégia SDR (Síntese Direta de Reatâncias), opera com realimentação de estados e requer a medição de variáveis locais. Em relação aos métodos tradicionais, usando capacitores, a compensação através de indutância negativa pode ter desempenho superior, pois é possível conseguir sistemas mais estáveis, sem risco de ressonâncias, e com desempenho dinâmico superior, o que permite a realização de outras funções desejáveis, tais como o amortecimento de oscilações eletromecânicas e a compensação de cintilação luminosa. Dada a elevada potência requerida pela aplicação, sugere-se a utilização do Conversor Multinível em Cascata Assimétrico, que apresenta alto rendimento e é capaz de produzir uma tensão de saída de baixo conteúdo harmônico. Para este conversor, foi introduzida uma estratégia de controle que permite uma implementação sem que sejam necessárias fontes CC. Sugere-se também um procedimento para escolha do capacitor de filtragem que permite uma redução da corrente no conversor para uma dada condição de operação. São apresentados alguns estudos sobre a estabilidade da compensação série com indutância negativa. Para a técnica de controle proposta, são realizados estudos de autovalores, que permitem verificar a robustez com variação de parâmetros. Através de simulações, verificasse a estabilidade com a presença de elementos não modelados na planta, como capacitâncias parasitas. Também são apresentados estudos sobre a estabilidade para um modelo de simulação da ressonância subsíncrona, que considera o modelo do gerador e características mecânicas do eixo da turbina. Os resultados obtidos com estes estudos de estabilidade, bem com os resultados experimentais, indicam que a técnica proposta é viável para a aplicação<br>Abstract: This thesis introduces a new control strategy of realizing negative inductances with static converters for series compensation of transmission lines. The proposed method, which is basedon DRS (Direct Reactance Synthesis) technique, requires state feedback of variables that can be measured locally. The use of negative inductances instead of capacitors may yield performance improvement because there is no risk of resonance and it is possible to obtain higher stability margins and better dynamic performance. Consequently, it is possible to realize some useful functions that are not possible with conventional strategies, just as flicker ompensation and smoothing of electromechanical oscillations. Series compensation requires high power static converters and, due to this, the use of the Asymmetrical Cascaded Multilevel Converters (ACMC) is suggested. This high efficiency power converter is capable of producing a low THD output voltage using less power switches than other topologies. This thesis also introduces a DC control strategy for ACMC, which may allow negative inductance implementation with no DC sources. It is also suggested a design procedure for choosing the filter capacitance that reduces the required current capability of the power converter. Some studies regarding the stability of series compensation with negative inductances were carried on. For the new control strategy, it was possible to perform the eigenvalues analysis, that proved therobustness under some parameters variations. The stability considering elements that were not modeled, just as stray capacitances or generator and turbine shaft, were tested through simulations. The simulations and experimental results corroborate to prove that the control strategy is suitable for this application<br>Doutorado<br>Energia Eletrica<br>Doutor em Engenharia Elétrica
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Smigelski, Jeffrey Ralph. "Water Level Dynamics of the North American Great Lakes:Nonlinear Scaling and Fractional Bode Analysis of a Self-Affine Time Series." Wright State University / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=wright1379087351.
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Sudibyo, Harry. "Une methode de test des circuits integres vlsi a structure pipeline serie et la generation automatique des vecteurs de test." Paris 6, 1987. http://www.theses.fr/1987PA066633.
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Le generateur automatique de vecteurs de test genevec qui est presente dans cette these, genere les vecteurs de test destines au test exhaustif du circuit integre vlsi dont la conception est faite a l'aide des cellules precaracterisees. Un fichier de description du test du circuit est forme d'un ensemble de donnees logiques d'interconnexions entre les blocs de base extraites a partir de la description "a plat" du circuit a tester et de donnees fonctionnelles sur les blocs de base qui constituent le circuit. La generation des vecteurs de test est effectuee d'apres ces informations. Cette etude s'applique aux circuits integres a structure pipeline serie. Ces circuits sont concus a l'aide d'une bibliotheque de cellules cmos, en utilisant les outils de la chaine de conception assistee par ordinateur emilie. La chaine de cao etablit la continuite des servitudes et des chemins de test. La methode que nous presentons dans ce travail est basee sur le test exhaustif du circuit en utilisant les chemins de test et en appliquant la methode lssd. Le but final est d'arriver a tester toute la partie combinatoire de chaque cellule standard, c'est a dire approcher taux de couverture 100%
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Robles, Martínez Ángel. "Modelling, simulation and control of the filtration process in a submerged anaerobic membrane bioreactor treating urban wastewater." Doctoral thesis, Editorial Universitat Politècnica de València, 2013. http://hdl.handle.net/10251/34102.
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El reactor anaerobio de membranas sumergidas (SAnMBR) está considerado como tecnología
candidata para mejorar la sostenibilidad en el sector de la depuración de aguas residuales,
ampliando la aplicabilidad de la biotecnología anaerobia al tratamiento de aguas residuales de
baja carga (v.g. agua residual urbana) o a condiciones medioambientales extremas (v.g. bajas
temperaturas de operación). Esta tecnología alternativa de tratamiento de aguas residuales es
más sostenible que las tecnologías aerobias actuales ya que el agua residual se transforma en
una fuente renovable de energía y nutrientes, proporcionando además un recurso de agua
reutilizable. SAnMBR no sólo presenta las principales ventajas de los reactores de membranas
(i.e. efluente de alta calidad, y pocas necesidades de espacio), sino que también presenta las
principales ventajas de los procesos anaerobios. En este sentido, la tecnología SAnMBR
presenta una baja producción de fangos debido a la baja tasa de crecimiento de los
microorganismos implicados en la degradación de la materia orgánica, presenta una baja
demanda energética debido a la ausencia de aireación, y permite la generación de metano, el
cual representa una fuente de energía renovable que mejora el balance energético neto del
sistema. Cabe destacar el potencial de recuperación de nutrientes del agua residual bien cuando
el efluente es destinado a irrigación directamente, o bien cuando debe ser tratado previamente
mediante tecnologías de recuperación de nutrientes.
El objetivo principal de esta tesis doctoral es evaluar la viabilidad de la tecnología SAnMBR
como núcleo en el tratamiento de aguas residuales urbanas a temperatura ambiente. Por lo tanto,
esta tesis se centra en las siguientes tareas: (1) implementación, calibración y puesta en marcha
del sistema de instrumentación, control y automatización requerido; (2) identificación de los
parámetros de operación clave que afectan al proceso de filtración; (3) modelación y simulación
del proceso de filtración; y (4) desarrollo de estrategias de control para la optimización del
proceso de filtración minimizando los costes de operación.
En este trabajo de investigación se propone un sistema de instrumentación, control y
automatización para SAnMBR, el cual fue esencial para alcanzar un comportamiento adecuado
y estable del sistema frente a posibles perturbaciones. El comportamiento de las membranas fue
comparable a sistemas MBR aerobios a escala industrial. Tras más de dos años de operación
ininterrumpida, no se detectaron problemas significativos asociados al ensuciamiento
irreversible de las membranas, incluso operando a elevadas concentraciones de sólidos en el
licor mezcla (valores de hasta 25 g·L-1
). En este trabajo se presenta un modelo de filtración
(basado en el modelo de resistencias en serie) que permitió simular de forma adecuada el proceso de filtración. Por otra parte, se propone un control supervisor basado en un sistema
experto que consiguió reducir el consumo energético asociado a la limpieza física de las
membranas, un bajo porcentaje de tiempo destinado a la limpieza física respecto al total de
operación, y, en general, un menor coste operacional del proceso de filtración.
Esta tesis doctoral está integrada en un proyecto nacional de investigación, subvencionado por
el Ministerio de Ciencia e Innovación (MICINN), con título ¿Modelación de la aplicación de la
tecnología de membranas para la valorización energética de la materia orgánica del agua
residual y la minimización de los fangos producidos¿ (MICINN, proyecto CTM2008-06809-
C02-01/02). Para obtener resultados representativos que puedan ser extrapolados a plantas
reales, esta tesis doctoral se ha llevado a cabo utilizando un sistema SAnMBR que incorpora
módulos comerciales de membrana de fibra hueca. Además, esta planta es alimentada con el
efluente del pre-tratamiento de la EDAR del Barranco del Carraixet (Valencia, España).<br>Robles Martínez, Á. (2013). Modelling, simulation and control of the filtration process in a submerged anaerobic membrane bioreactor treating urban wastewater [Tesis doctoral]. Editorial Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/34102<br>Alfresco<br>Premiado
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Pochylý, Petr. "Návrh řídicího systému experimentální sladovny." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-319700.
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This master thesis deals with design of automation control system for operationally experimental malt-house. The first part deals with general description of all production stages of malting and brief description about the Research Institute of Brewering and Malting. It also generally characterizes the used hardware and software for automation control system. The second part of this thesis describes the types of programmable logic controllers and the selection of optimal variant for application of the operationally experimental malt-house. Master thesis in the third and fourth part contains a brief description about the methodology and the creation of control program and visualisation for automatic control system of the operationally experimental malt-house. The output of the master thesis is a complete control program and visualisation of the controlled application of the operating malt-house.
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Hudec, Jiří. "Studie optimalizace řízení zásob." Master's thesis, Vysoké učení technické v Brně. Fakulta podnikatelská, 2007. http://www.nusl.cz/ntk/nusl-221448.
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This master´s thesis deals with problems of inventory control optimalization in a business company. It contains theory data, company analyses and its market position, an analysis of information systems and inventory control in use, its evaluation and own recommendation leading to the optimalization.