MATLAB

This excellent book represents the final part of three-volumes regarding MATLAB-based applications in almost every branch of science. The book consists of 19 excellent, insightful articles and the readers will find the results very useful to their work. In particular, the book consists of three parts, the first one is devoted to mathematical methods in the applied sciences by using MATLAB, the second is devoted to MATLAB applications of general interest and the third one discusses MATLAB for educational purposes. This collection of high quality articles, refers to a large range of professional fields and can be used for science as well as for various educational purposes

Optimal Sensing and Actuation Policies for Networked Mobile Agents in a Class of Cyber-Physical Systems

The main purpose of this dissertation is to define and solve problems on optimal sensing and actuating policies in Cyber-Physical Systems (CPSs). Cyber-physical system is a term that was introduced recently to define the increasing complexity of the interactions between computational hardwares and their physical environments. The problem of designing the ``cyber\u27\u27 part may not be trivial but can be solved from scratch. However, the ``physical\u27\u27 part, usually a natural physical process, is inherently given and has to be identified in order to propose an appropriate ``cyber\u27\u27 part to be adopted. Therefore, one of the first steps in designing a CPS is to identify its ``physical\u27\u27 part. The ``physical\u27\u27 part can belong to a large array of system classes. Among the possible candidates, we focus our interest on Distributed Parameter Systems (DPSs) whose dynamics can be modeled by Partial Differential Equations (PDE). DPSs are by nature very challenging to observe as their states are distributed throughout the spatial domain of interest. Therefore, systematic approaches have to be developed to obtain the optimal locations of sensors to optimally estimate the parameters of a given DPS. In this dissertation, we first review the recent methods from the literature as the foundations of our contributions. Then, we define new research problems within the above optimal parameter estimation framework. Two different yet important problems considered are the optimal mobile sensor trajectory planning and the accuracy effects and allocation of heterogeneous sensors. Under the remote sensing setting, we are able to determine the optimal trajectories of remote sensors. The problem of optimal robust estimation is then introduced and solved using an interlaced ``online\u27\u27 or ``real-time\u27\u27 scheme. Actuation policies are introduced into the framework to improve the estimation by providing the best stimulation of the DPS for optimal parameter identification, where trajectories of both sensors and actuators are optimized simultaneously. We also introduce a new methodology to solving fractional-order optimal control problems, with which we demonstrate that we can solve optimal sensing policy problems when sensors move in complex media, displaying fractional dynamics. We consider and solve the problem of optimal scale reconciliation using satellite imagery, ground measurements, and Unmanned Aerial Vehicles (UAV)-based personal remote sensing. Finally, to provide the reader with all the necessary background, the appendices contain important concepts and theorems from the literature as well as the Matlab codes used to numerically solve some of the described problems

An integrated framework for developing generic modular reconfigurable platforms for micro manufacturing and its implementation

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.The continuing trends of miniaturisation, mass customisation, globalisation and wide use of the Internet have great impacts upon manufacturing in the 21st century. Micro manufacturing will play an increasingly important role in bridging the gap between the traditional precision manufacturing and the emerging technologies like MEMS/NEMS. The key requirements for micro manufacturing in this context are hybrid manufacturing capability, modularity, reconfigurability, adaptability and energy/resource efficiency. The existing design approaches tend to have narrow scope and are largely limited to individual manufacturing processes and applications. The above requirements demand a fundamentally new approach to the future applications of micro manufacturing so as to obtain producibility, predictability and productivity covering the full process chains and value chains. A novel generic modular reconfigurable platform (GMRP) is proposed in such a context. The proposed GMRP is able to offer hybrid manufacturing capabilities, modularity, reconfigurablity and adaptivity as both an individual machine tool and a micro manufacturing system, and provides a cost effective solution to high value micro manufacturing in an agile, responsive and mass customisation manner. An integrated framework has been developed to assist the design of GMRPs due to their complexity. The framework incorporates theoretical GMRP model, design support system and extension interfaces. The GMRP model covers various relevant micro manufacturing processes and machine tool elements. The design support system includes a user-friendly interface, a design engine for design process and design evaluation, together with scalable design knowledge base and database. The functionalities of the framework can also be extended through the design support system interface, the GMRP interface and the application interface, i.e. linking to external hardware and/or software modules. The design support system provides a number of tools for the analysis and evaluation of the design solutions. The kinematic simulation of machine tools can be performed using the Virtual Reality toolbox in Matlab. A module has also been developed for the multiscale modelling, simulation and results analysis in Matlab. A number of different cutting parameters can be studied and the machining performance can be subsequently evaluated using this module. The mathematical models for a non-traditional micro manufacturing process, micro EDM, have been developed with the simulation performed using FEA. Various design theories and methodologies have been studied, and the axiomatic design theory has been selected because of its great power and simplicity. It has been applied in the conceptual design of GMRP and its design support system. The implementation of the design support system is carried out using Matlab, Java and XML technologies. The proposed GMRP and framework have been evaluated through case studies and experimental results

High-quality 3D shape measurement with binarized dual phase-shifting method

ABSTRACT 3-D technology is commonplace in today\u27s world. They are used in many dierent aspects of life. Researchers have been keen on 3-D shape measurement and 3-D reconstruction techniques in past decades as a result of inspirations from dierent applications ranging from manufacturing, medicine to entertainment. The techniques can be broadly divided into contact and non-contact techniques. The contact techniques like coordinate measuring machine (CMM) dates way back to 1950s. It has been used extensively in the industries since then. It becomes predominant in industrial inspections owing to its high accuracy in the order of m. As we know that quality control is an important part of modern industries hence the technology is enjoying great popularity. However, the main disadvantage of this method is its slow speeds due to its requirement of point-by-point touch. Also, since this is a contact process, it might deform a soft object while performing measurements. Such limitations led the researchers to explore non-contact measurement technologies (optical metrology techniques). There are a variety of optical techniques developed till now. Some of the well-known technologies include laser scanners, stereo vision, and structured light systems. The main limitation of laser scanners is its limited speed due to its point-by-point or line-by-line scanning process. The stereo vision uses two cameras which take pictures of the object at two dierent angles. Then epipolar geometry is used to determine the 3-D coordinates of points in real-world. Such technology imitates human vision, but it had a few limitations too like the diculty of correspondence detection for uniform or periodic textures. Hence structured light systems were introduced which addresses the aforementioned limitations. There are various techniques developed including 2-D pseudo-random codication, binary codication, N-ary codication and digital fringe projection (DFP). The limitation of 2-D pseudo-random codication technique is its inability to achieve high spatial resolution since any uniquely generated and projected feature requires a span of several projector pixels. The binary codication techniques reduce the requirement of 2-D features to 1-D ones. However, since there are only two intensities, it is dicult to differentiate between the individual pixels within each black or white stripe. The other disadvantage is that n patterns are required to encode 2n pixels, meaning that the measurement speeds will be severely affected if a scene is to be coded with high-resolution. Dierently, DFP uses continuous sinusoidal patterns. The usage of continuous patterns addresses the main disadvantage of binary codication (i.e. the inability of this technique to differentiate between pixels was resolved by using sinusoid patterns). Thus, the spatial resolution is increased up to camera-pixel-level. On the other hand, since the DFP technique used 8-bit sinusoid patterns, the speed of measurement is limited to the maximum refreshing rate of 8-bit images for many video projectors (e.g. 120 Hz). This made it inapplicable for measurements of highly dynamic scenes. In order to overcome this speed limitation, the binary defocussing technique was proposed which uses 1-bit patterns to produce sinusoidal prole by projector defocusing. Although this technique has signicantly boosted the measurement speed up to kHz-level, if the patterns are not properly defocused (nearly focused or overly defocused), increased phase noise or harmonic errors will deteriorate the reconstructed surface quality. In this thesis research, two techniques are proposed to overcome the limitations of both DFP and binary defocusing technique: binarized dual phase shifting (BDPS) technique and Hilbert binarized dual phase shifting technique (HBDPS). Both techniques were able to achieve high-quality 3-D shape measurements even when the projector is not sufficiently defocused. The harmonic error was reduced by 47% by the BDPS method, and 74% by the HBDPS method. Moreover, both methods use binary patterns which preserve the speed advantage of the binary technology, hence it is potentially applicable to simultaneous high-speed and high-accuracy 3D shape measurements

An integrated framework for developing generic modular reconfigurable platforms for micro manufacturing and its implementation

The continuing trends of miniaturisation, mass customisation, globalisation and wide use of the Internet have great impacts upon manufacturing in the 21st century. Micro manufacturing will play an increasingly important role in bridging the gap between the traditional precision manufacturing and the emerging technologies like MEMS/NEMS. The key requirements for micro manufacturing in this context are hybrid manufacturing capability, modularity, reconfigurability, adaptability and energy/resource efficiency. The existing design approaches tend to have narrow scope and are largely limited to individual manufacturing processes and applications. The above requirements demand a fundamentally new approach to the future applications of micro manufacturing so as to obtain producibility, predictability and productivity covering the full process chains and value chains. A novel generic modular reconfigurable platform (GMRP) is proposed in such a context. The proposed GMRP is able to offer hybrid manufacturing capabilities, modularity, reconfigurablity and adaptivity as both an individual machine tool and a micro manufacturing system, and provides a cost effective solution to high value micro manufacturing in an agile, responsive and mass customisation manner. An integrated framework has been developed to assist the design of GMRPs due to their complexity. The framework incorporates theoretical GMRP model, design support system and extension interfaces. The GMRP model covers various relevant micro manufacturing processes and machine tool elements. The design support system includes a user-friendly interface, a design engine for design process and design evaluation, together with scalable design knowledge base and database. The functionalities of the framework can also be extended through the design support system interface, the GMRP interface and the application interface, i.e. linking to external hardware and/or software modules. The design support system provides a number of tools for the analysis and evaluation of the design solutions. The kinematic simulation of machine tools can be performed using the Virtual Reality toolbox in Matlab. A module has also been developed for the multiscale modelling, simulation and results analysis in Matlab. A number of different cutting parameters can be studied and the machining performance can be subsequently evaluated using this module. The mathematical models for a non-traditional micro manufacturing process, micro EDM, have been developed with the simulation performed using FEA. Various design theories and methodologies have been studied, and the axiomatic design theory has been selected because of its great power and simplicity. It has been applied in the conceptual design of GMRP and its design support system. The implementation of the design support system is carried out using Matlab, Java and XML technologies. The proposed GMRP and framework have been evaluated through case studies and experimental results.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Development of electronics for traction control of experimental vehicle

Tato práce se zabývá návrhem a realizací palubní elektroniky experimentálního vozidla Car4, dále pak základní programovou výbavou řídicí jednotky a Hardware In the Loop simulačním ověřením funkčnosti řídicí jednotky.This thesis deals with design of on-board electronics of experimental vehicle Car4, with basic firmware of control unit, and Hardware In the Loop simulation for verification of Control Unit function.

Mixed H2/H∞ control for infinite dimensional systems

The class of infinite dimensional systems often occurs when dealing with distributed parameter models consisting of partial differential equations. Although forming a comprehensive description, they mainly become manageable by finite dimensional approximations which likely neglect important effects, but underlies a certain structure. In contrast to common techniques for controlling infinite dimensional systems, this work focuses on using robust control methods. Thus, the uncertainty structure that occurs due to the discretization shall be taken into account particularly. Additionally, optimal performance measures can be included into the design process. The mixed H2/H∞ control approach handles the inclusion of disturbances and inaccuracies while guaranteeing specified energy or magnitude bounds. In order to include various of these system requirements, multi-objective robust control techniques based on the linear matrix inequality framework are utilized. This offers great flexibility concerning the formulation of the control task and results in convex optimization problems which can be solved numerically efficient by semi-definite programming. A flexible robot arm structure serves as the major application example during this work. The model discretization leads to an LTI system of specified order with an uncertainty model which is obtained by considering the concrete approximation impact and frequency domain tests. A structural analysis of the system model relates the neglected dynamics to a robust characterization. For the objective selection, stability shall be ensured under all expected circumstances while the aspects of optimal H2 performance, passive behavior and optimal measurement output selection are included. The undesirable spillover effect is thoroughly investigated and thus avoided.Tesi

CPPS-3D: a methodology to support cyber physical production systems design, development and deployment

Master’s dissertation in Production EngineeringCyber-Physical Production Systems are widely recognized as the key to unlock the full potential benefits of the Industry 4.0 paradigm. Cyber-Physical Production Systems Design, Development and Deployment methodology is a systematic approach in assessing necessities, identifying gaps and then designing, developing and deploying solutions to fill such gaps. It aims to support and drive enterprise’s evolution to the new working environment promoted by the availability of Industry 4.0 paradigms and technologies while challenged by the need to increment a continuous improvement culture. The proposed methodology considers the different dimensions within enterprises related with their levels of organization, competencies and technology. It is a two-phased sequentially-stepped process to enable discussion, reflection/reasoning, decision-making and action-taking towards evolution. The first phase assesses an enterprise across its Organizational, Technological and Human dimensions. The second phase establishes sequential tasks to successfully deploy solutions. Is was applied to a production section at a Portuguese enterprise with the development of a new visual management system to enable shop floor management. This development is presented as an example of Industry 4.0 technology and it promotes a faster decision-making, better production management, improved data availability as well as fosters more dynamic workplaces with enhanced reactivity to problems