Project description:The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.
Project description:In nature, insects show impressive adaptation and learning capabilities. The proposed computational model takes inspiration from specific structures of the insect brain: after proposing key hypotheses on the direct involvement of the mushroom bodies (MBs) and on their neural organization, we developed a new architecture for motor learning to be applied in insect-like walking robots. The proposed model is a nonlinear control system based on spiking neurons. MBs are modeled as a nonlinear recurrent spiking neural network (SNN) with novel characteristics, able to memorize time evolutions of key parameters of the neural motor controller, so that existing motor primitives can be improved. The adopted control scheme enables the structure to efficiently cope with goal-oriented behavioral motor tasks. Here, a six-legged structure, showing a steady-state exponentially stable locomotion pattern, is exposed to the need of learning new motor skills: moving through the environment, the structure is able to modulate motor commands and implements an obstacle climbing procedure. Experimental results on a simulated hexapod robot are reported; they are obtained in a dynamic simulation environment and the robot mimicks the structures of Drosophila melanogaster.
Project description:In this article, some practical software optimization methods for implementations of fractional order backward difference, sum, and differintegral operator based on Grünwald-Letnikov definition are presented. These numerical algorithms are of great interest in the context of the evaluation of fractional-order differential equations in embedded systems, due to their more convenient form compared to Caputo and Riemann-Liouville definitions or Laplace transforms, based on the discrete convolution operation. A well-known difficulty relates to the non-locality of the operator, implying continually increasing numbers of processed samples, which may reach the limits of available memory or lead to exceeding the desired computation time. In the study presented here, several promising software optimization techniques were analyzed and tested in the evaluation of the variable fractional-order backward difference and derivative on two different Arm® Cortex®-M architectures. Reductions in computation times of up to 75% and 87% were achieved compared to the initial implementation, depending on the type of Arm® core.
Project description:The article describes the development and implementation of a complex monitoring system for measuring the concentration of carbon dioxide, ambient temperature, relative humidity and atmospheric pressure. The presented system was installed at two locations. The first was in the rooms at the Department of Cybernetics and Biomedical Engineering, Faculty of Electrical Engineering and Computer Science, VŠB-Technical University of Ostrava. The second was in the classrooms of the Grammar School and Secondary School of Electrical Engineering and Computer Science in Frenštát pod Radhošt?m. The article contains a detailed description of the entire measurement network, whose basic component was a device for measuring carbon dioxide concentration, temperature and relative humidity in ambient air and atmospheric pressure via wireless data transmission using IQRF® technology. Measurements were conducted continuously for several months. The data were archived in a database. The article also describes the methods for processing the data with statistical analysis. Carbon dioxide concentration was selected for data analysis. Data were selected from at least two different rooms at each location. The processed results represent the time periods for the given carbon dioxide concentrations. The graphs display in percent how much of the time students or employees spent exposed to safe or dangerous concentrations of carbon dioxide. The collected data were used for the future improvement of air quality in the rooms.
Project description:In Renewable Energy (RE) integrated DC Microgrid (MG), the intermittency of power variation from RE sources can lead to power and voltage imbalances in the DC network and have an impact on the MG's operation in terms of reliability, power quality, and stability. In such case, a battery energy storage (BES) technology is widely used for mitigating power variation from the RE sources to get better voltage regulation and power balance in DC network. In this study, a BES based coordinated power management control strategy (PMCS) is proposed for the MG system to get effective utilization of RE sources while maintaining the MG's reliability and stability. For safe and effective utilization of BES, a battery management system (BMS) with inclusion of advanced BES control strategy is implemented. The BES control system with optimized FOPI controllers using hybrid (atom search optimization and particle swarm optimization (ASO-PSO)) optimization technique is proposed to get improved overall performance in terms of control response and voltage regulation in DC network under the random change in load profile and uncertain conditions of RE sources in real time.
Project description:Feedback control is widely used in chemical engineering to improve the performance and robustness of chemical processes. Feedback controllers require a 'subtractor' that is able to compute the error between the process output and the reference signal. In the case of embedded biomolecular control circuits, subtractors designed using standard chemical reaction network theory can only realise one-sided subtraction, rendering standard controller design approaches inadequate. Here, we show how a biomolecular controller that allows tracking of required changes in the outputs of enzymatic reaction processes can be designed and implemented within the framework of chemical reaction network theory. The controller architecture employs an inversion-based feedforward controller that compensates for the limitations of the one-sided subtractor that generates the error signals for a feedback controller. The proposed approach requires significantly fewer chemical reactions to implement than alternative designs, and should have wide applicability throughout the fields of synthetic biology and biological engineering.
Project description:Laser marking is an important branch of the laser information processing technology. The existing laser marking machine based on PC and WINDOWS operating system, are large and inconvenient to move. Still, it cannot work outdoors or in other harsh environments. In order to compensate for the above mentioned disadvantages, this paper proposed an embedded laser marking controller based on ARM and FPGA processors. Based on the principle of laser galvanometer scanning marking, the hardware and software were designed for the application. Experiments showed that this new embedded laser marking controller controls the galvanometers synchronously and could achieve precise marking.
Project description:Due to the rapid technological evolution and communications accessibility, data generated from different sources of information show an exponential growth behavior. That is, volume of data samples that need to be analyzed are getting larger, so the methods for its processing have to adapt to this condition, focusing mainly on ensuring the computation is efficient, especially when the analysis tools are based on computational intelligence techniques. As we know, if you do not have a good control of the handling of the volume of the data, some techniques that are based on learning iterative processes could represent an excessive load of computation and could take a prohibitive time in trying to find a solution that could not come close to desired. There are learning methods known as full batch, online and mini-batch, and they represent a good strategy to this problem since they are oriented to the processing of data according to the size or volume of available data samples that require analysis. In this first approach, synthetic datasets with a small and medium volume were used, since the main objective is to define its implementation and in experimentation phase through regression analysis obtain information that allows us to assess the performance and behavior of different learning methods under distinct conditions. To carry out this study, a Mamdani based neuro-fuzzy system with center-of-sets defuzzification with support of multiple inputs and outputs was designed and implemented that had the flexibility to use any of the three learning methods, which were implemented within the training process. Finally, results show that the learning method with best performances was Mini-Batch when compared to full batch and online learning methods. The results obtained by mini-batch learning method are as follows; mean correlation coefficient [Formula: see text] with 0.8268 and coefficient of determination [Formula: see text] with 0.7444, and is also the method with better control of the dispersion between the results obtained from the 30 experiments executed per each dataset processed.
Project description:At present, the rapier loom has gradually become the mainstream equipment in the manufacturing industry. In order to make the rapier loom realize automated production and further improve the production efficiency of the rapier loom, improve the programmability of the system, and reduce the cost of system maintenance. The thesis developed a rapier loom control system based on embedded soft PLC, and carried out experiments and applications in the field. The contribution and innovation of this paper is to develop a complete low-cost control system, and through a genetic algorithm optimized PID algorithm to complete the more effective control of the loom tension system. The embedded soft PLC system proposed in this paper reduces the overall maintenance cost of the system and improves the programmability of the system. This text carries on the systematic scheme design to the embedded soft PLC from the hardware system and the software system respectively. First, according to the actual requirements, this article designs the overall scheme of the embedded software PLC hardware system with STM32F407ZGT6 as the core. Then this article is based on the embedded soft PLC hardware platform, according to the international standard of industrial control programming, writes the embedded soft PLC low-level driver software. Secondly, this article analyzes the factors that affect the warp tension during the operation of the rapier loom, and proposes the use of genetic algorithm to optimize the warp tension control method of the traditional PID algorithm. Finally, we conducted verification tests and on-site application debugging for the entire set of rapier loom embedded soft PLC control system. We controlled the warp tension as the main experimental object. The results show that this control system effectively improves the control accuracy of the warp tension of the rapier loom and meets the actual needs of industrial applications. The whole system has a good application prospect in the warp tension control of rapier looms.
Project description:BackgroundInhaled anesthetics in the operating room are potent greenhouse gases and are a key contributor to carbon emissions from health care facilities. Real-time clinical decision support (CDS) systems lower anesthetic gas waste by prompting anesthesia professionals to reduce fresh gas flow (FGF) when a set threshold is exceeded. However, previous CDS systems have relied on proprietary or highly customized anesthesia information management systems, significantly reducing other institutions' accessibility to the technology and thus limiting overall environmental benefit.ObjectiveIn 2018, a CDS system that lowers anesthetic gas waste using methods that can be easily adopted by other institutions was developed at the University of California San Francisco (UCSF). This study aims to facilitate wider uptake of our CDS system and further reduce gas waste by describing the implementation of the FGF CDS toolkit at UCSF and the subsequent implementation at other medical campuses within the University of California Health network.MethodsWe developed a noninterruptive active CDS system to alert anesthesia professionals when FGF rates exceeded 0.7 L per minute for common volatile anesthetics. The implementation process at UCSF was documented and assembled into an informational toolkit to aid in the integration of the CDS system at other health care institutions. Before implementation, presentation-based education initiatives were used to disseminate information regarding the safety of low FGF use and its relationship to environmental sustainability. Our FGF CDS toolkit consisted of 4 main components for implementation: sustainability-focused education of anesthesia professionals, hardware integration of the CDS technology, software build of the CDS system, and data reporting of measured outcomes.ResultsThe FGF CDS system was successfully deployed at 5 University of California Health network campuses. Four of the institutions are independent from the institution that created the CDS system. The CDS system was deployed at each facility using the FGF CDS toolkit, which describes the main components of the technology and implementation. Each campus made modifications to the CDS tool to best suit their institution, emphasizing the versatility and adoptability of the technology and implementation framework.ConclusionsIt has previously been shown that the FGF CDS system reduces anesthetic gas waste, leading to environmental and fiscal benefits. Here, we demonstrate that the CDS system can be transferred to other medical facilities using our toolkit for implementation, making the technology and associated benefits globally accessible to advance mitigation of health care-related emissions.