Relay Control Design using Attractive Ellipsoids Method

International audienceBased on the attractive ellipsoids method the problem of rejection of both matched and mismatched exogenous disturbances is studied for a linear plants controlled by the generalized relays. Some existing results about local stabiliz-ability as well as matching condition are refined for the system under consideration. The procedure of robust control design for optimal rejection of bounded exogenous disturbances is proposed. The theoretical results are supported with numerical simulations

Clinical ophthalmic ultrasound improvements

The use of digital synthetic aperture techniques to obtain high resolution ultrasound images of eye and orbit was proposed. The parameters of the switched array configuration to reduce data collection time to a few milliseconds to avoid eye motion problems in the eye itself were established. An assessment of the effects of eye motion on the performance of the system was obtained. The principles of synthetic techniques are discussed. Likely applications are considered

Control techniques for mechatronic assisted surgery

The treatment response for traumatic head injured patients can be improved by using an autonomous robotic system to perform basic, time-critical emergency neurosurgery, reducing costs and saving lives. In this thesis, a concept for a neurosurgical robotic system is proposed to perform three specific emergency neurosurgical procedures; they are the placement of an intracranial pressure monitor, external ventricular drainage, and the evacuation of chronic subdural haematoma. The control methods for this system are investigated following a curiosity led approach. Individual problems are interpreted in the widest sense and solutions posed that are general in nature. Three main contributions result from this approach: 1) a clinical evidence based review of surgical robotics and a methodology to assist in their evaluation, 2) a new controller for soft-grasping of objects, and 3) new propositions and theorems for chatter suppression sliding mode controllers. These contributions directly assist in the design of the control system of the neurosurgical robot and, more broadly, impact other areas outside the narrow con nes of the target application. A methodology for applied research in surgical robotics is proposed. The methodology sets out a hierarchy of criteria consisting of three tiers, with the most important being the bottom tier and the least being the top tier. It is argued that a robotic system must adhere to these criteria in order to achieve acceptability. Recent commercial systems are reviewed against these criteria, and are found to conform up to at least the bottom and intermediate tiers. However, the lack of conformity to the criteria in the top tier, combined with the inability to conclusively prove increased clinical benefit, particularly symptomatic benefit, is shown to be hampering the potential of surgical robotics in gaining wide establishment. A control scheme for soft-grasping objects is presented. Grasping a soft or fragile object requires the use of minimum contact force to prevent damage or deformation. Without precise knowledge of object parameters, real-time feedback control must be used to regulate the contact force and prevent slip. Moreover, the controller must be designed to have good performance characteristics to rapidly modulate the fingertip contact force in response to a slip event. A fuzzy sliding mode controller combined with a disturbance observer is proposed for contact force control and slip prevention. The robustness of the controller is evaluated through both simulation and experiment. The control scheme was found to be effective and robust to parameter uncertainty. When tested on a real system, however, chattering phenomena, well known to sliding mode research, was induced by the unmodelled suboptimal components of the system (filtering, backlash, and time delays). This reduced the controller performance. The problem of chattering and potential solutions are explored. Real systems using sliding mode controllers, such as the control scheme for soft-grasping, have a tendency to chatter at high frequencies. This is caused by the sliding mode controller interacting with un-modelled parasitic dynamics at the actuator-input and sensor-output of the plant. As a result, new chatter-suppression sliding mode controllers have been developed, which introduce new parameters into the system. However, the effect any particular choice of parameters has on system performance is unclear, and this can make tuning the parameters to meet a set of performance criteria di cult. In this thesis, common chatter-suppression sliding mode control strategies are surveyed and simple design and estimation methods are proposed. The estimation methods predict convergence, chattering amplitude, settling time, and maximum output bounds (overshoot) using harmonic linearizations and invariant ellipsoid sets

Piecewise Linear Control Systems

This thesis treats analysis and design of piecewise linear control systems. Piecewise linear systems capture many of the most common nonlinearities in engineering systems, and they can also be used for approximation of other nonlinear systems. Several aspects of linear systems with quadratic constraints are generalized to piecewise linear systems with piecewise quadratic constraints. It is shown how uncertainty models for linear systems can be extended to piecewise linear systems, and how these extensions give insight into the classical trade-offs between fidelity and complexity of a model. Stability of piecewise linear systems is investigated using piecewise quadratic Lyapunov functions. Piecewise quadratic Lyapunov functions are much more powerful than the commonly used quadratic Lyapunov functions. It is shown how piecewise quadratic Lyapunov functions can be computed via convex optimization in terms of linear matrix inequalities. The computations are based on a compact parameterization of continuous piecewise quadratic functions and conditional analysis using the S-procedure. A unifying framework for computation of a variety of Lyapunov functions via convex optimization is established based on this parameterization. Systems with attractive sliding modes and systems with bounded regions of attraction are also treated. Dissipativity analysis and optimal control problems with piecewise quadratic cost functions are solved via convex optimization. The basic results are extended to fuzzy systems, hybrid systems and smooth nonlinear systems. It is shown how Lyapunov functions with a discontinuous dependence on the discrete state can be computed via convex optimization. An automated procedure for increasing the flexibility of the Lyapunov function candidate is suggested based on linear programming duality. A Matlab toolbox that implements several of the results derived in the thesis is presented

Computational fluids domain reduction to a simplified fluid network

The primary goal of this project is to demonstrate the practical use of data mining algorithms to cluster a solved steady-state computational fluids simulation (CFD) flow domain into a simplified lumped-parameter network. A commercial-quality code, “cfdMine” was created using a volume-weighted k-means clustering that that can accomplish the clustering of a 20 million cell CFD domain on a single CPU in several hours or less. Additionally agglomeration and k-means Mahalanobis were added as optional post-processing steps to further enhance the separation of the clusters. The resultant nodal network is considered a reduced-order model and can be solved transiently at a very minimal computational cost. The reduced order network is then instantiated in the commercial thermal solver MuSES to perform transient conjugate heat transfer using convection predicted using a lumped network (based on steady-state CFD). When inserting the lumped nodal network into a MuSES model, the potential for developing a “localized heat transfer coefficient” is shown to be an improvement over existing techniques. Also, it was found that the use of the clustering created a new flow visualization technique. Finally, fixing clusters near equipment newly demonstrates a capability to track temperatures near specific objects (such as equipment in vehicles)

Perancangan Diagram Pengkabelan Pada Automation Sorting Line System Di Pt. Industrial Robotics Automation

Sistem pemilahan box secara manual masih banyak ditemukan di industri menengah kebawah. Kecepatan dan ketepatan proses produksi hingga packing dapat mempengaruhi profit yang didapat perusahaan tersebut. Pada era industri saat ini dibutuhkan sistem yang dapat mengatasi permasalahan, terutama dari aspek kecanggihan teknologi. Oleh karena itu dibutuhkan sistem yang tepat untuk dapat memilah box secara otomatis, tepat dan cepat. Automation Sorting Line System merupakan suatu sistem yang dapat memisahkan box pada masing-masing line. Dengan sensor barcode, sistem ini memungkinkan untuk mendeteksi dan mengaktifkan pendorong apabila barcode sesuai dengan line. Sistem yang dibuat cukup kompleks dan membutuhkan panel sebagai tempat komponen elektrik. Dengan didesain secara benar dan rapi, diharapkan pegawai maintenance dapat mudah menganalisa kerusakan pada panel. Untuk dapat memasukkan box ke tiap line dibutuhkan pendorong berupa motor servo yang telah di modifikasi. Motor servo diatur lamanya mendorong dan akan kembali semula jika mengenai sensor penghitung tiap line. Hasil pengujian pendorong box menggunakan timer pada PLC dengan set 1,2 ms dapat mendorong box yang akan disortir dan masuk ke tiap line

Beamforming optimization for two-way relay channel

In this thesis, we focus on the optimization of the two-way relay channel (TWRC), which can double the data rate of communications comparing to the traditional one-way relay channel (OWRC). Because of the broadcasting nature of wireless transmissions, secure transmission is an appealing research topic. We take secrecy rate consideration into the optimization of the TWRC. Overall we provide near-optimal solutions for the secrecy rate maximization problems of the TWRC with imperfect channel state information (ICSI). A much lower complexity optimal SOCP solution is provided for SNR balancing of the TWRC without secrecy consideration. We first look at a flat fading TWRC network model with a multiple-input multiple-output (MIMO) relay where perfect channel state information (CSI) is assumed available. We then formulate an optimization problem, with the objective to minimize the relay’s power usage under the constraints that the signal-to-noise ratio (SNR) of the two transceivers should exceed a preset threshold. A low-complexity optimal beamforming solution is provided to this optimization problem by reformulating it in the form of second-order cone programming (SOCP). Later in the thesis, we consider the presence of an eavesdropper and address the beamforming optimization for minimizing the relay’s power with the constraints of the secrecy rates of the two transceivers. A semi-definite programming (SDP) based searching algorithm is proposed to find a near-optimal solution. For each search of the proposed approach, the previous non-convex optimization problem is transferred into an SDP problem, which can guarantee the optimality of the beamforming matrix. Afterwards, more realistic imperfect CSI (ICSI) situations are considered for the TWRC network models. As ICSI completely changes the structure and the property of the optimization problems, we reformulate the optimization problems into two scenarios. For the first case, we consider that the relay is an untrusted eavesdropper and in this case an SDP solution is provided to maximize the joint-decoding sum-secrecy rate. For the second case, we investigate the robust beamforming problems where the relay is trusted but there is an external eavesdropper, another SDP solution is provided to maximize the sum-secrecy rate