On-line Condition Monitoring, Fault Detection and Diagnosis in Electrical Machines and Power Electronic Converters

The objective of this PhD research is to develop robust, and non-intrusive condition monitoring methods for induction motors fed by closed-loop inverters. The flexible energy forms synthesized by these connected power electronic converters greatly enhance the performance and expand the operating region of induction motors. They also significantly alter the fault behavior of these electric machines and complicate the fault detection and protection. The current state of the art in condition monitoring of power-converter-fed electric machines is underdeveloped as compared to the maturing condition monitoring techniques for grid-connected electric machines. This dissertation first investigates the stator turn-to-turn fault modelling for induction motors (IM) fed by a grid directly. A novel and more meaningful model of the motor itself was developed and a comprehensive study of the closed-loop inverter drives was conducted. A direct torque control (DTC) method was selected for controlling IM’s electromagnetic torque and stator flux-linkage amplitude in industrial applications. Additionally, a new driver based on DTC rules, predictive control theory and fuzzy logic inference system for the IM was developed. This novel controller improves the performance of the torque control on the IM as it reduces most of the disadvantages of the classical and predictive DTC drivers. An analytical investigation of the impacts of the stator inter-turn short-circuit of the machine in the controller and its reaction was performed. This research sets a based knowledge and clear foundations of the events happening inside the IM and internally in the DTC when the machine is damaged by a turn fault in the stator. This dissertation also develops a technique for the health monitoring of the induction machine under stator turn failure. The developed technique was based on the monitoring of the off-diagonal term of the sequence component impedance matrix. Its advantages are that it is independent of the IM parameters, it is immune to the sensors’ errors, it requires a small learning stage, compared with NN, and it is not intrusive, robust and online. The research developed in this dissertation represents a significant advance that can be utilized in fault detection and condition monitoring in industrial applications, transportation electrification as well as the utilization of renewable energy microgrids. To conclude, this PhD research focuses on the development of condition monitoring techniques, modelling, and insightful analyses of a specific type of electric machine system. The fundamental ideas behind the proposed condition monitoring technique, model and analysis are quite universal and appeals to a much wider variety of electric machines connected to power electronic converters or drivers. To sum up, this PhD research has a broad beneficial impact on a wide spectrum of power-converter-fed electric machines and is thus of practical importance

Trust-Based Control of (Semi)Autonomous Mobile Robotic Systems

Despite great achievements made in (semi)autonomous robotic systems, human participa-tion is still an essential part, especially for decision-making about the autonomy allocation of robots in complex and uncertain environments. However, human decisions may not be optimal due to limited cognitive capacities and subjective human factors. In human-robot interaction (HRI), trust is a major factor that determines humans use of autonomy. Over/under trust may lead to dispro-portionate autonomy allocation, resulting in decreased task performance and/or increased human workload. In this work, we develop automated decision-making aids utilizing computational trust models to help human operators achieve a more effective and unbiased allocation. Our proposed decision aids resemble the way that humans make an autonomy allocation decision, however, are unbiased and aim to reduce human workload, improve the overall performance, and result in higher acceptance by a human. We consider two types of autonomy control schemes for (semi)autonomous mobile robotic systems. The first type is a two-level control scheme which includes switches between either manual or autonomous control modes. For this type, we propose automated decision aids via a computational trust and self-confidence model. We provide analytical tools to investigate the steady-state effects of the proposed autonomy allocation scheme on robot performance and human workload. We also develop an autonomous decision pattern correction algorithm using a nonlinear model predictive control to help the human gradually adapt to a better allocation pattern. The second type is a mixed-initiative bilateral teleoperation control scheme which requires mixing of autonomous and manual control. For this type, we utilize computational two-way trust models. Here, mixed-initiative is enabled by scaling the manual and autonomous control inputs with a function of computational human-to-robot trust. The haptic force feedback cue sent by the robot is dynamically scaled with a function of computational robot-to-human trust to reduce humans physical workload. Using the proposed control schemes, our human-in-the-loop tests show that the trust-based automated decision aids generally improve the overall robot performance and reduce the operator workload compared to a manual allocation scheme. The proposed decision aids are also generally preferred and trusted by the participants. Finally, the trust-based control schemes are extended to the single-operator-multi-robot applications. A theoretical control framework is developed for these applications and the stability and convergence issues under the switching scheme between different robots are addressed via passivity based measures

Synthesis and characterization of silicon dioxide thin films by low pressure chemical vapor deposition

Ditertiarybutylsilane ( DTBS ) and oxygen have been used as precursors to produce silicon dioxide films by low pressure chemical vapor deposition. These films were synthesized in the temperature range of 600°C to 800°C at constant pressure, and at different gas flow composition. The films were found to be uniform with a composition that varied with deposition temperature and gas flow ratio. The growth rate was found to follow an Arrhenius behavior with an apparent activation energy of 2.62 kcal/mol. The growth rate was seen to increase with higher distance between wafers and to vary as a function of square root of the 0, flow rate. The refractive index of the films were found to be 1.462 at deposition temperature 600°C and increased with higher temperature. The stresses were very low tensile in the films and tended to be compressive with increasing deposition temperature

Synthesis and characterization of silicon dioxide films using diethyl silane and oxygen

This study focuses on producing thin and thick silicon dioxide films towards the fabrication of integrated optical sensor capable of monitoring and determining in-situ, the concentration of numerous analyze species simultaneously. In this study, diethylsilane (DES) has been used as a precursor to produce silicon dioxide films by low pressure chemical vapor deposition. The films were synthesized with two different flow ratios of oxygen to DES in the temperature range of 550°C to 800°C at a constant pressure of 200mTorr. The films deposited with lower oxygen to DES flow ratio have very high growth rate but suffer from high tensile stress leading to cracks in the films. However the films deposited with higher oxygen to DES flow ratio were crack free. The stress was found to be very low and tensile in these films and tended towards compressive with increasing deposition temperature which is necessary in producing thick films. The films were form and amorphous. The growth rate followed an Arrhenius behavior with an apparent activation energy of 10.59Kcal/mol in case of lower oxygen to DES ratio. Also, depletion was observed with increase in the distance between the wafers. The refractive index of the films were found to be near 1.45 and the films were highly transparent. The thick silicon dioxide films showed excellent properties at a deposition temperature of 775°°C, a pressure of 200mTorr and an oxygen to DES flow ratio of 10:1

High Speed Clock Glitching

In recent times, hardware security has drawn a lot of interest in the research community. With physical proximity to the target devices, various fault injection hardware attack methods have been proposed and tested to alter their functionality and trigger behavior not intended by the design. There are various types of faults that can be injected depending on the parameters being used and the level at which the device is tampered with. The literature describes various fault models to inject faults in clock of the target but there are no publications on overclocking circuits for fault injection. The proposed method bridges this gap by conducting high-speed clock fault injection on latest high-speed micro-controller units where the target device is overclocked for a short duration in the range of 4-1000 ns. This thesis proposes a method of generating a high-speed clock and driving the target device using the same clock. The properties of the target devices for performing experiments in this research are: Externally accessible clock input line and GPIO line. The proposed method is to develop a high-speed clock using custom bit-stream sent to FPGA and subsequently using external analog circuitry to generate a clock-glitch which can inject fault on the target micro-controller. Communication coupled with glitching allows us to check the target\u27s response, which can result in information disclosure.This is a form of non-invasive and effective hardware attack. The required background, methodology and experimental setup required to implement high-speed clock glitching has been discussed in this thesis. The impact of different overclock frequencies used in clock fault injection is explored. The preliminary results have been discussed and we show that even high-speed micro-controller units should consider countermeasures against clock fault injection. Influencing the execution of Tiva C Launchpad and STM32F4 micro-controller units has been shown in this thesis. The thesis details the method used for the testing a