Application of MPC and sliding mode control to IFAC benchmark models

The comparison of Model Predictive Control (MPC) and Sliding Mode Control (SMC) are presented in this paper. This paper investigates the performance of each controller as the navigation system for IFAC benchmark ship models (cargo vessel and oil tanker). In this investigation the navigation system regulates the heading angle of the two types of marine vessel with reference to a desired heading trajectory. In this investigation, the result obtained from MPC is compared with a well-established control methodology, namely Sliding Mode control theory. Wave disturbances and actuator limits are implemented to provide a more realistic evaluation and comparison for the proposed control structure

Modelling and simulation of a biomimetic underwater vehicle

This paper describes work carried out at the University of Glasgow investigating biomimetic fish-like propulsion systems for underwater vehicles. The development of a simple mathematical model is described for a biomimetic fish like vehicle which utilizes a tendon drive propulsion system. This model is then compared with a model of a vehicle of similar size but with a propeller for main propulsion. Simulation results for both models are shown and compared

Applications of inverse simulation to a nonlinear model of an underwater vehicle

Inverse simulation provides an important alternative to conventional simulation and to more formal mathematical techniques of model inversion. The application of inverse simulation methods to a nonlinear dynamic model of an unmanned underwater vehicle with actuator limits is found to give rise to a number of challenging problems. It is shown that this particular problem requires, in common with other applications that include hard nonlinearities in the model or discontinuities in the required trajectory, can best be approached using a search-based optimization algorithm for inverse simulation in place of the more conventional Newton- Raphson approach. Results show that meaningful inverse simulation results can be obtained but that multi-solution responses exist. Although the inverse solutions are not unique they are shown to generate the required trajectories when tested using conventional forward simulation methods

Optimisation of the weighting functions of an H_∞ controller using genetic algorithms and structured genetic algorithms

In this paper the optimisation of the weighting functions for an H<sub>∞</sub> controller using genetic algorithms and structured genetic algorithms is considered. The choice of the weighting functions is one of the key steps in the design of an H<sub>∞</sub> controller. The performance of the controller depends on these weighting functions since poorly chosen weighting functions will provide a poor controller. One approach that can solve this problem is the use of evolutionary techniques to tune the weighting parameters. The paper presents the improved performance of structured genetic algorithms over conventional genetic algorithms and how this technique can assist with the identification of appropriate weighting functions' orders

Genetic programming for the automatic design of controllers for a surface ship

In this paper, the implementation of genetic programming (GP) to design a contoller structure is assessed. GP is used to evolve control strategies that, given the current and desired state of the propulsion and heading dynamics of a supply ship as inputs, generate the command forces required to maneuver the ship. The controllers created using GP are evaluated through computer simulations and real maneuverability tests in a laboratory water basin facility. The robustness of each controller is analyzed through the simulation of environmental disturbances. In addition, GP runs in the presence of disturbances are carried out so that the different controllers obtained can be compared. The particular vessel used in this paper is a scale model of a supply ship called CyberShip II. The results obtained illustrate the benefits of using GP for the automatic design of propulsion and navigation controllers for surface ships

Sliding Mode Implementation of an Attitude Command Flight Control System for a Helicopter in Hover

This paper presents an investigation into the design of a flight control system, using a decoupled non-linear sliding mode control structure, designed using a linearised, 9th order representation of the dynamics of a PUMA helicopter in hover. The controllers are then tested upon a higher order, non-linear helicopter model, called RASCAL. This design approach is used for attitude command flight control implementation and the control performance is assessed in the terms of handling qualities through the Aeronautical Design Standards for Rotorcraft (ADS-33). In this context a linearised approximation of the helicopter system is used to design an SMC control scheme. These controllers have been found to yield a system that satisfies the Level 1 handling qualities set out by ADS-33.

The diffusion of sustainability and Dingle Peninsula 2030

Instilling a collaborative approach can widen participation to a range of stakeholders, enabling the diffusion of sustainability and increasing local capacity to meet decarbonisation targets to mitigate against climate change. Dingle Peninsula 2030 has emerged as an international case study of a collaborative regional sustainability project, whereby a wide range of initiatives, beyond the initial remit of the project, have emerged in the area. This holistic scale of action is required for effective climate action. Using the Sustainable Development Goals (SDGs) as a framing, the interrelated nature of climate action has been shown through this study. In setting out to undergo energy projects a wide range of new initiatives emerged as community members became engaged in the process. Initiatives have emerged related to energy, transport, agriculture, education, tourism and employment, in what we have coined the ‘diffusion of sustainability’

Understanding how institutions may support the development of transdisciplinary approaches to sustainability research

This article analyses the approaches of academics seeking to engage with private, public and community-based stakeholders through transdisciplinary research about pressing sustainability challenges and, in particular, climate change; it outlines aspects of the institutional factors which influence transdisciplinary research. A qualitative approach was employed in conducting 10 semi-structured interviews to analyse the challenges and motivations of academic researchers when working with a range of other stakeholders through transdisciplinary practice. Two key contributions are made through this work. First, this article adds to the existing literature on motivations and challenges for undertaking research with private, public and community stakeholders in a cross-disciplinary manner. Second, the current institutional circumstances influencing such research practices are outlined, alongside potential ways forward. The research presented here has been undertaken in light of the experiences of the two lead co-authors as early career researchers coming from the disciplines of sociology and energy engineering, engaging in transdisciplinary research within a local community context in relation to a regional energy transition project

Understanding concurrent earcons: applying auditory scene analysis principles to concurrent earcon recognition

Two investigations into the identification of concurrently presented, structured sounds, called earcons were carried out. One of the experiments investigated how varying the number of concurrently presented earcons affected their identification. It was found that varying the number had a significant effect on the proportion of earcons identified. Reducing the number of concurrently presented earcons lead to a general increase in the proportion of presented earcons successfully identified. The second experiment investigated how modifying the earcons and their presentation, using techniques influenced by auditory scene analysis, affected earcon identification. It was found that both modifying the earcons such that each was presented with a unique timbre, and altering their presentation such that there was a 300 ms onset-to-onset time delay between each earcon were found to significantly increase identification. Guidelines were drawn from this work to assist future interface designers when incorporating concurrently presented earcons

Paul G. Leahy, Connor McGookin, Hannah E. Daly

In 2020, the Energy Engineering programme team at University College Cork undertook a redesign of the introductory first-year module in Energy Engineering. The aim was to introduce a more experientially-based learning experience and to allow first-year students greater opportunity to develop and demonstrate performance-based understanding. The key material change to the module was to incorporate design and group work in the first year of the programme. In the Wind Turbine Maker Challenge, groups of 4-5 students were tasked with designing and building a working wind turbine. Students were provided with kits comprising some basic elements of turbines including small generators and gearboxes and simple, flat blades. However, the focus of the exercise was on original design, particularly of the aerodynamic rotor components of the turbines. The participants had to source their own materials for the wind turbine rotors, and were encouraged to use recovered or recycled materials. Students were also asked to consider ethical aspects of wind energy generation. In developing this approach, the conceptualisation of teaching as setting up and facilitating students' performance was to the forefront. The formal classroom instruction was limited to only the core knowledge required to enable students to begin to consider suitable materials, geometries for their turbine designs through hands-on experimentation. Survey feedback from students showed that they had strongly focussed on the environmental and sustainability aspects of the exercise. Students were asked what they thought the goal of the exercise was. Students’ reported understandings of the main goal varied widely, for example “Learning how wind turbines work” and “Working as a team towards a common goal”. However, all of the students’ reported goals were compatible with the module’s learning outcomes