+publisher:"University of Texas – Austin" +contributor:("Fernandez, Benito")

University of Texas – Austin

1. Chang, Yin-Jui. Signal translation between EEG and ECoG to improve non-invasive based BCI performance.

Degree: MSin Engineering, Mechanical Engineering, 2018, University of Texas – Austin

► An electroencephalography (EEG) / electrocorticography (ECoG) inverse model for the Brain-Computer Interface (BCI) was developed, and the analysis of the signals was simulated in Python… (more)

Subjects/Keywords: Brain-Computer Interface; BCI; EEG; Electroencephalography; ECoG; Electrocorticography; Brain-Machine Interface; BMI; Non-invasive based BCI; NeuroBondGraph; NBG

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APA (6^th Edition):

Chang, Y. (2018). Signal translation between EEG and ECoG to improve non-invasive based BCI performance. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/72447

Chicago Manual of Style (16^th Edition):

Chang, Yin-Jui. “Signal translation between EEG and ECoG to improve non-invasive based BCI performance.” 2018. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/72447.

MLA Handbook (7^th Edition):

Chang, Yin-Jui. “Signal translation between EEG and ECoG to improve non-invasive based BCI performance.” 2018. Web. 13 Apr 2021.

Vancouver:

Chang Y. Signal translation between EEG and ECoG to improve non-invasive based BCI performance. [Internet] [Masters thesis]. University of Texas – Austin; 2018. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/72447.

Council of Science Editors:

Chang Y. Signal translation between EEG and ECoG to improve non-invasive based BCI performance. [Masters Thesis]. University of Texas – Austin; 2018. Available from: http://hdl.handle.net/2152/72447

University of Texas – Austin

2. Olivares Villamediana, Ignacio Javier. Computer algorithm to detect and predict machine faults using cloud-based vibration data.

Degree: MSin Engineering, Mechanical Engineering, 2015, University of Texas – Austin

URL: http://hdl.handle.net/2152/39355

► In this research a machine fault detection and diagnostic algorithm is presented. The algorithm uses time wave-form acceleration data stored in a server for cloud… (more)

Subjects/Keywords: Detection; Diagnostic; Vibration; Predictive maintenance

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APA (6^th Edition):

Olivares Villamediana, I. J. (2015). Computer algorithm to detect and predict machine faults using cloud-based vibration data. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/39355

Chicago Manual of Style (16^th Edition):

Olivares Villamediana, Ignacio Javier. “Computer algorithm to detect and predict machine faults using cloud-based vibration data.” 2015. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/39355.

MLA Handbook (7^th Edition):

Olivares Villamediana, Ignacio Javier. “Computer algorithm to detect and predict machine faults using cloud-based vibration data.” 2015. Web. 13 Apr 2021.

Vancouver:

Olivares Villamediana IJ. Computer algorithm to detect and predict machine faults using cloud-based vibration data. [Internet] [Masters thesis]. University of Texas – Austin; 2015. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/39355.

Council of Science Editors:

Olivares Villamediana IJ. Computer algorithm to detect and predict machine faults using cloud-based vibration data. [Masters Thesis]. University of Texas – Austin; 2015. Available from: http://hdl.handle.net/2152/39355

University of Texas – Austin

3. -2764-5063. Design and implementation of a software framework to model and simulate engineering systems using bondgraphs.

Degree: MSin Engineering, Electrical and Computer engineering, 2015, University of Texas – Austin

URL: http://hdl.handle.net/2152/40976

► This report presents the development of a software framework for deriving explicit state equations in symbolic form of physical systems described by bond graphs. This… (more)

Subjects/Keywords: Bond graph; Python model

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APA (6^th Edition):

-2764-5063. (2015). Design and implementation of a software framework to model and simulate engineering systems using bondgraphs. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/40976

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Chicago Manual of Style (16^th Edition):

-2764-5063. “Design and implementation of a software framework to model and simulate engineering systems using bondgraphs.” 2015. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/40976.

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Author name may be incomplete

MLA Handbook (7^th Edition):

-2764-5063. “Design and implementation of a software framework to model and simulate engineering systems using bondgraphs.” 2015. Web. 13 Apr 2021.

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Author name may be incomplete

Vancouver:

-2764-5063. Design and implementation of a software framework to model and simulate engineering systems using bondgraphs. [Internet] [Masters thesis]. University of Texas – Austin; 2015. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/40976.

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Author name may be incomplete

Council of Science Editors:

-2764-5063. Design and implementation of a software framework to model and simulate engineering systems using bondgraphs. [Masters Thesis]. University of Texas – Austin; 2015. Available from: http://hdl.handle.net/2152/40976

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University of Texas – Austin

4. -2427-9523. Hybrid control and model-based assertions for autonomous intersection management system as a cyber-physical system.

Degree: MSin Engineering, Mechanical engineering, 2016, University of Texas – Austin

URL: http://hdl.handle.net/2152/39042

► A cyber-physical system (CPS) consists of multiple physical components that collab- orate through a network during real-time operation according to system-level commands. A hybrid control,… (more)

▼ A cyber-physical system (CPS) consists of multiple physical components that collab- orate through a network during real-time operation according to system-level commands. A hybrid control, which generates discrete system-level commands and handles the low-level physical dynamics for each component, is of singular importance to a CPS. For a CPS, live- ness and safety require that the system is always eventually doing what is desirable without any undesirable behavior, and have to be carefully addressed. The advance in information technology and autonomous driving make it possible to establish an autonomous intersection management system (AIMS) for ground autonomous vehicles, which can potentially improve traffic efficiency and reduce intersection car accidents. This work presents a hybrid control and introduces model-based assertions for such an AIMS. System-level traffic requirements are expressed in the form of linear temporal logic (LTL) specifications in the generalized reactivity formulas with rank 1 (GR(1)) and a two-player game is solved to synthesize a discrete traffic network controller. DaNI, a motor-driven laboratory robot vehicle, is mod- eled using a bond-graph approach, and a nonlinear vehicle trajectory sliding-mode controller (SMC) is mathematically and numerically described. The discrete traffic controller instructs each robot vehicle to pass through the intersection of interest at a certain time and the vehicle’s trajectory within the intersection is controlled by the SMC. Using simulation, it is shown that the synthesized discrete controller is able to determine proper system actions in response to traffic data and environmental actions while maintaining liveness and safety specifications. A laboratory study on a simple AIMS is demonstrated to depict the basic design structure of a AIMS as a CPS. The results suggest that model-based assertions, which monitor and validate a CPS by assertions based on physical models, can be helpful in de- tecting physics-related abnormalities during operation of a CPS that may not be captured by a software-level analysis. Using simulations, it is shown how the accuracy of a continuous vehicle trajectory controller, such as a SMC, can provide informative guidance on the design of model-based assertions. Advisors/Committee Members: Longoria, Raul G. (advisor), Fernandez, Benito R (committee member).

Subjects/Keywords: Cyber-physical system; AIMS; Hybrid control; Linear temporal logic; Model-based assertions; Sliding-mode control

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APA (6^th Edition):

-2427-9523. (2016). Hybrid control and model-based assertions for autonomous intersection management system as a cyber-physical system. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/39042

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Chicago Manual of Style (16^th Edition):

-2427-9523. “Hybrid control and model-based assertions for autonomous intersection management system as a cyber-physical system.” 2016. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/39042.

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MLA Handbook (7^th Edition):

-2427-9523. “Hybrid control and model-based assertions for autonomous intersection management system as a cyber-physical system.” 2016. Web. 13 Apr 2021.

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Vancouver:

-2427-9523. Hybrid control and model-based assertions for autonomous intersection management system as a cyber-physical system. [Internet] [Masters thesis]. University of Texas – Austin; 2016. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/39042.

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Author name may be incomplete

Council of Science Editors:

-2427-9523. Hybrid control and model-based assertions for autonomous intersection management system as a cyber-physical system. [Masters Thesis]. University of Texas – Austin; 2016. Available from: http://hdl.handle.net/2152/39042

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University of Texas – Austin

5. Refai, Rehan. Hybrid neural net and physics based model of a lithium ion battery.

Degree: MSin Engineering, Mechanical Engineering, 2011, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2011-05-3612

► Lithium ion batteries have become one of the most popular types of battery in consumer electronics as well as aerospace and automotive applications. The efficient… (more)

▼ Lithium ion batteries have become one of the most popular types of battery in consumer electronics as well as aerospace and automotive applications. The efficient use of Li-ion batteries in automotive applications requires well designed battery management systems. Low order Li-ion battery models that are fast and accurate are key to well- designed BMS. The control oriented low order physics based model developed previously cannot predict the temperature and predicts inaccurate voltage dynamics. This thesis focuses on two things: (1) the development of a thermal component to the isothermal model and (2) the development of a hybrid neural net and physics based battery model that corrects the output of the physics based model. A simple first law based thermal component to predict the temperature model is implemented. The thermal model offers a reasonable approximation of the temperature dynamics of the battery discharge over a wide operating range, for both a well-ventilated battery as well as an insulated battery. The model gives an accurate prediction of temperature at higher SOC, but the accuracy drops sharply at lower SOCs. This possibly is due to a local heat generation term that dominates heat generation at lower SOCs. A neural net based modeling approach is used to compensate for the lack of knowledge of material parameters of the battery cell in the existing physics based model. This model implements a neural net that corrects the voltage output of the model and adds a temperature prediction sub-network. Given the knowledge of the physics of the battery, sparse neural nets are used. Multiple types of standalone neural nets as well as hybrid neural net and physics based battery models are developed and tested to determine the appropriate configuration for optimal performance. The prediction of the neural nets in ventilated, insulated and stressed conditions was compared to the actual outputs of the batteries. The modeling approach presented here is able to accurately predict voltage output of the battery for multiple current profiles. The temperature prediction of the neural nets in the case of the ventilated batteries was harder to predict since the environment of the battery was not controlled. The temperature predictions in the insulated cases were quite accurate. The neural nets are trained, tested and validated using test data from a 4.4Ah Boston Power lithium ion battery cell. Advisors/Committee Members: Chen, Dongmei, Ph. D. (advisor), Fernandez, Benito R. (committee member).

Subjects/Keywords: Lithium ion batteries; Neural nets; Thermal modeling; Hybrid neural net; Battery simulation

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APA (6^th Edition):

Refai, R. (2011). Hybrid neural net and physics based model of a lithium ion battery. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2011-05-3612

Chicago Manual of Style (16^th Edition):

Refai, Rehan. “Hybrid neural net and physics based model of a lithium ion battery.” 2011. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2011-05-3612.

MLA Handbook (7^th Edition):

Refai, Rehan. “Hybrid neural net and physics based model of a lithium ion battery.” 2011. Web. 13 Apr 2021.

Vancouver:

Refai R. Hybrid neural net and physics based model of a lithium ion battery. [Internet] [Masters thesis]. University of Texas – Austin; 2011. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2011-05-3612.

Council of Science Editors:

Refai R. Hybrid neural net and physics based model of a lithium ion battery. [Masters Thesis]. University of Texas – Austin; 2011. Available from: http://hdl.handle.net/2152/ETD-UT-2011-05-3612

University of Texas – Austin

6. Li, Xun, Ph. D. in computer sciences. Opponent modeling and exploitation in poker using evolved recurrent neural networks.

Degree: PhD, Computer Science, 2018, University of Texas – Austin

URL: http://hdl.handle.net/2152/68687

► As a classic example of imperfect information games, poker, in particular, Heads-Up No-Limit Texas Holdem (HUNL), has been studied extensively in recent years. A number… (more)

Subjects/Keywords: Computer poker; Opponent modeling; Evolutionary computation; LSTM

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APA (6^th Edition):

Li, Xun, P. D. i. c. s. (2018). Opponent modeling and exploitation in poker using evolved recurrent neural networks. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/68687

Chicago Manual of Style (16^th Edition):

Li, Xun, Ph D in computer sciences. “Opponent modeling and exploitation in poker using evolved recurrent neural networks.” 2018. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/68687.

MLA Handbook (7^th Edition):

Li, Xun, Ph D in computer sciences. “Opponent modeling and exploitation in poker using evolved recurrent neural networks.” 2018. Web. 13 Apr 2021.

Vancouver:

Li, Xun PDics. Opponent modeling and exploitation in poker using evolved recurrent neural networks. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2018. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/68687.

Council of Science Editors:

Li, Xun PDics. Opponent modeling and exploitation in poker using evolved recurrent neural networks. [Doctoral Dissertation]. University of Texas – Austin; 2018. Available from: http://hdl.handle.net/2152/68687

University of Texas – Austin

7. -8485-1448. Intelligent collision management in dynamic environments for human-centered robots.

Degree: PhD, Mechanical Engineering, 2017, University of Texas – Austin

URL: http://hdl.handle.net/2152/63643

► Thanks to rapid breakthroughs on robotics, their historical deployment in industrial setups, their current extensions to warehouses, and the highly anticipated deployment of autonomous vehicles… (more)

▼ Thanks to rapid breakthroughs on robotics, their historical deployment in industrial setups, their current extensions to warehouses, and the highly anticipated deployment of autonomous vehicles on our streets, self-guided mobile robots equiped with manipulators or varied payloads are paving their way into unstructured and dynamic environments such as cities, hospitals, human-populated work areas, and facilities of all types. As a result, intentional or unintentional contact between humans, objects and these robots is bound to occur increasingly more often. In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby’s via realtime sensing and control systems. A less obvious focus is to combine collision response with tools from motion planning in order to produce intelligent safety behaviors that ensure the safety of multiple people or objects. Yet, an even more challenging problem is to anticipate future collisions between objects external to the robot and have the robot intervene to prevent imminent accidents. In this dissertation, we study all of these sophisticated flavors of collision reaction and intervention. The posit here is that no matter how hard we try, collisions will always happen, and therefore we need to confront and study them as a central topic both during navigation or dexterous manipulation. We investigate in-depth multiple key and interesting topics related to collisions and safety of mobile robots and robotic manipulators operating in human environments. We show that simple sensor architectures can reconstruct sophisticated external force information including location, direction, and magnitude over the whole body of some types of robots. We devise technologies to quickly sense and react to unexpected collisions as fast as possible during navigation. We investigate robots colliding against walls in difficult tilted terrains and quickly figuring out new practical motion plans. We study methods to recognize intentional contacts from humans and use them as a non-verbal communication medium. We study fusing sensor data from contact sensors and time of flight laser sensors to reason about the multiplicity of contacts on a robot from human users. We investigate statistical problems like the probability that an externally moving object collides against a human. We then devise novel motion planning and control algorithms to stop the impending collisions using any part of a robot’s upper humanoid body. Such behaviors constitutes some of the most advanced collision mitigation and intervention techniques we have seen in the academic communities. Overall we deeply investigate collisions from many perspectives and develop techniques that borrow and contribute to the areas of mechatronic design, sensor processing, feedback controls, motion planning, and probabilistic reasoning methods. The result of this study is a set of key experiments and guidelines to deal with collisions in mobile robots and robotic manipulators. This… Advisors/Committee Members: Sentis, Luis (advisor), Fernandez, Benito (committee member), Chen, Dongmei (committee member), Stone, Peter (committee member).

Subjects/Keywords: Robotics; Safety

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APA (6^th Edition):

-8485-1448. (2017). Intelligent collision management in dynamic environments for human-centered robots. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/63643

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Chicago Manual of Style (16^th Edition):

-8485-1448. “Intelligent collision management in dynamic environments for human-centered robots.” 2017. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/63643.

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MLA Handbook (7^th Edition):

-8485-1448. “Intelligent collision management in dynamic environments for human-centered robots.” 2017. Web. 13 Apr 2021.

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Vancouver:

-8485-1448. Intelligent collision management in dynamic environments for human-centered robots. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2017. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/63643.

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Council of Science Editors:

-8485-1448. Intelligent collision management in dynamic environments for human-centered robots. [Doctoral Dissertation]. University of Texas – Austin; 2017. Available from: http://hdl.handle.net/2152/63643

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University of Texas – Austin

8. -0973-5180. Performance and manufacturing considerations for series elastic actuators.

Degree: PhD, Mechanical Engineering, 2017, University of Texas – Austin

URL: http://dx.doi.org/10.26153/tsw/2811

► Robots are becoming an integral part of our lives. We are already physically connected with them through many robotic applications such as exoskeletons in military,… (more)

▼ Robots are becoming an integral part of our lives. We are already physically connected with them through many robotic applications such as exoskeletons in military, orthosis devices in health care, collaborative robots in industry, etc. While the integration of robots improves the quality of human life, it still poses a safety concern during the physical human-robot interaction. Series Elastic Actuators (SEAs) play an important role in improving the safety of human-robot interaction and collaboration. Considering the fast expansion of robotic applications in our lives and the safety benefits of SEAs, it is conceivable that SEAs are going to play an important role in robotic applications in every aspect of human life. This dissertation focuses on reducing the cost, simplifying the use and improving the performance of SEAs. The first research focus in this dissertation is to reduce the cost of SEAs. Robots are successful in reducing production and service costs when used but the capital cost of robot installations are very high. As robotics research shifts to safe robotic applications, reducing the cost of SEAs will greatly help to deploy this technology in more robotic applications and to increase their accessibility to a broader range of researchers and educators. With this motivation, I present a case study on reducing the cost of a SEA while maintaining high force and position control performance and industrial grade service life. The second research focus in this dissertation is to simplify the laborious gain selection process of the cascaded controllers of SEAs. In order to simplify the gain selection process of the impedance controllers of SEAs, an optimal feedback gain selection methodology was developed. Using this method, the feedback gains of the cascaded PD-type impedance controllers of SEAs can easily be calibrated. The developed method allows the users to find the highest feedback gains for a desired phase-margin. Beyond the low-cost realization and simple controller tuning of SEAs, performance improvements on SEAs are possible utilizing the series elasticity in these actuators. As the third research focus in this dissertation, a sequential convex optimization-based motion planning technique is developed in order to improve the joint velocity capabilities of SEAs with nonlinearities. By using this method, higher joint velocities, that are not achievable with the rigid counterparts of SEAs can be achieved Advisors/Committee Members: Sentis, Luis (advisor), Fernandez, Benito R (committee member), Chen, Dongmei (committee member), Barr, Ronald (committee member), Mok, Aloysius K (committee member).

Subjects/Keywords: Series elastic actuator; Low-cost; Industrial grade; Impedance control; Gain selection; Motion planning

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APA (6^th Edition):

-0973-5180. (2017). Performance and manufacturing considerations for series elastic actuators. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://dx.doi.org/10.26153/tsw/2811

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Chicago Manual of Style (16^th Edition):

-0973-5180. “Performance and manufacturing considerations for series elastic actuators.” 2017. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://dx.doi.org/10.26153/tsw/2811.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

MLA Handbook (7^th Edition):

-0973-5180. “Performance and manufacturing considerations for series elastic actuators.” 2017. Web. 13 Apr 2021.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Vancouver:

-0973-5180. Performance and manufacturing considerations for series elastic actuators. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2017. [cited 2021 Apr 13]. Available from: http://dx.doi.org/10.26153/tsw/2811.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Council of Science Editors:

-0973-5180. Performance and manufacturing considerations for series elastic actuators. [Doctoral Dissertation]. University of Texas – Austin; 2017. Available from: http://dx.doi.org/10.26153/tsw/2811

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

University of Texas – Austin

9. Zelenak, Andrew J. Nonlinear control with two complementary Lyapunov function.

Degree: PhD, Mechanical engineering, 2016, University of Texas – Austin

URL: http://hdl.handle.net/2152/46519

► If a Lyapunov function is known, a dynamic system can be stabilized. However, computing or selecting a Lyapunov function is often challenging. This dissertation presents… (more)

Subjects/Keywords: Nonlinear control; Robotics; Robot; Control theory; Lyapunov; Stability

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APA (6^th Edition):

Zelenak, A. J. (2016). Nonlinear control with two complementary Lyapunov function. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/46519

Chicago Manual of Style (16^th Edition):

Zelenak, Andrew J. “Nonlinear control with two complementary Lyapunov function.” 2016. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/46519.

MLA Handbook (7^th Edition):

Zelenak, Andrew J. “Nonlinear control with two complementary Lyapunov function.” 2016. Web. 13 Apr 2021.

Vancouver:

Zelenak AJ. Nonlinear control with two complementary Lyapunov function. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2016. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/46519.

Council of Science Editors:

Zelenak AJ. Nonlinear control with two complementary Lyapunov function. [Doctoral Dissertation]. University of Texas – Austin; 2016. Available from: http://hdl.handle.net/2152/46519

University of Texas – Austin

10. -0253-495X. A hand exoskeleton with series elastic actuation for rehabilitation : design, control and experimentation.

Degree: PhD, Mechanical Engineering, 2017, University of Texas – Austin

URL: http://hdl.handle.net/2152/47150

► Rehabilitation of the hands is critical for restoring independence in activities of daily living for individuals with upper extremity disabilities. Conventional therapies for hand rehabilitation… (more)

▼ Rehabilitation of the hands is critical for restoring independence in activities of daily living for individuals with upper extremity disabilities. Conventional therapies for hand rehabilitation have not shown significant improvement in hand function. Robotic exoskeletons have been developed to assist in therapy and there is initial evidence that such devices with force-control based strategies can help in effective rehabilitation of human limbs. However, to the best of our knowledge, none of the existing hand exoskeletons allow for accurate force or torque control. In this dissertation, we design and prototype a novel hand exoskeleton that has the following unique features: (i) Bowden-cable-based series elastic actuation allowing for bidirectional torque control of each joint individually, (ii) an underlying kinematic mechanism that is optimized to achieve large range of motion and (iii) a thumb module that allows for independent actuation of the four thumb joints. To control the developed hand exoskeleton for efficacious rehabilitation after a neuromuscular impairment such as stroke, we present two types of subject-specific assist-as-needed controllers. Learned force-field control is a novel control technique in which a neural-network-based model of the required torques given the joint angles for a specific subject is learned and then used to build a force-field to assist the joint motion of the subject to follow a trajectory designed in the joint-angle space. Adaptive assist-as-needed control, on the other hand, estimates the coupled digit-exoskeleton system torque requirement of a subject using radial basis function (RBF) and on-the-y adapts the RBF magnitudes to provide a feed-forward assistance for improved trajectory tracking. Experiments with healthy human subjects showed that each controller has its own trade-offs and is suitable for a specific type of impairment. Finally, to promote and optimize motor (re)-learning, we present a framework for robot-assisted motor (re)-learning that provides subject-specific training by allowing for simultaneous adaptation of task, assistance and feedback based on the performance of the subject on the task. To train the subjects for dexterous manipulation, we present a torque-based task that requires subjects to dynamically regulate their joint torques. A pilot study carried out with healthy human subjects using the developed hand exoskeleton suggests that training under simultaneous adaptation of task, assistance and feedback can module challenge and affect their motor learning. Advisors/Committee Members: Deshpande, Ashish D. (advisor), Neptune, Richard R. (committee member), Fernandez, Benito R. (committee member), O'Malley, Marcia K. (committee member).

Subjects/Keywords: Hand rehabilitation; Exoskeletons; Hand; Robotic; Torque control; Motor learning; Prototype exoskeleton; Learned force-field control; Assist-as-needed control; Robot-assisted motor learning

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APA (6^th Edition):

-0253-495X. (2017). A hand exoskeleton with series elastic actuation for rehabilitation : design, control and experimentation. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/47150

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Chicago Manual of Style (16^th Edition):

-0253-495X. “A hand exoskeleton with series elastic actuation for rehabilitation : design, control and experimentation.” 2017. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/47150.

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Author name may be incomplete

MLA Handbook (7^th Edition):

-0253-495X. “A hand exoskeleton with series elastic actuation for rehabilitation : design, control and experimentation.” 2017. Web. 13 Apr 2021.

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Author name may be incomplete

Vancouver:

-0253-495X. A hand exoskeleton with series elastic actuation for rehabilitation : design, control and experimentation. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2017. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/47150.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Council of Science Editors:

-0253-495X. A hand exoskeleton with series elastic actuation for rehabilitation : design, control and experimentation. [Doctoral Dissertation]. University of Texas – Austin; 2017. Available from: http://hdl.handle.net/2152/47150

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11. -9534-5383. Sensor-based robust whole-body control of highly dynamic legged humanoid robots.

Degree: PhD, Mechanical Engineering, 2018, University of Texas – Austin

URL: http://hdl.handle.net/2152/68181

► Industrial robots significantly improve the productivity of manufacturing operations performing various tasks rapidly, accurately, and repeatedly. It would be hard to imagine factories without robotic… (more)

▼ Industrial robots significantly improve the productivity of manufacturing operations performing various tasks rapidly, accurately, and repeatedly. It would be hard to imagine factories without robotic arms. At the same time, it is difficult to imagine human-centered robots maintaining infrastructure and providing care as they are not yet versatile enough. One important obstacle to the adoption of human-centered robots is their limited mobility. Legged humanoid robots represent an embodiment of a highly dexterous system which could provide human-like capabilities to boost automated services in human environments. Therefore this thesis is dedicated to investigate the sensor-based control of legged humanoids robots such that they can achieve versatile and high task performance. To tackle agility and robustness in legged humanoid robots, I have studied the dynamic whole-body motion control of these kind of robots, with special focus on dynamic locomotion in coordination with whole-body task capabilities. One of the unique aspects of this study is the enhancement of locomotion capabilities without compromising the robot’s dexterity. Currently, existing locomotion techniques for legged systems are highly specialized and not adaptable to generic robotic structures with manipulation requirements. Here, we explore the robot’s legged mobility without compromising its dexterity by utilizing a general-purpose whole-body controller (WBC), i.e. a control algorithm which can find a dynamically-consistent mapping from operational space tasks to joint torques. The use of a WBC is appealing due to its ability to coordinate multiple tasks for highly redundant robotic systems. As such, WBCs have been deployed recently for controlling humanoid robots. However, the use of WBCs for achieving highly dynamic sensor-based motions has been lacking, and our work addresses the technical problems of such and endeavor. Our research primarily focuses on employing WBCs for dynamic motion control of legged robots. The dynamic control of real robots requires both algorithmic developments and compre- hensive system analyses for real-time deployment, which covers a broad spectrum of components from motor-level control to high-level planners. Therefore, my studies include the algorithmic enhancement of WBCs, the development of locomotion planners, the analysis of real-time con- trollers, and the integration of state-estimators. The algorithmic theory and methods are verified in both simulation and various real systems. Advisors/Committee Members: Sentis, Luis (advisor), Fernandez, Benito R (committee member), Stone, Peter (committee member), Sulzer, James (committee member), Chen, Dongmei (committee member).

Subjects/Keywords: Whole-body control; Biped locomotion; Dynamic motion control; Torque control

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APA (6^th Edition):

-9534-5383. (2018). Sensor-based robust whole-body control of highly dynamic legged humanoid robots. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/68181

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Chicago Manual of Style (16^th Edition):

-9534-5383. “Sensor-based robust whole-body control of highly dynamic legged humanoid robots.” 2018. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/68181.

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Author name may be incomplete

MLA Handbook (7^th Edition):

-9534-5383. “Sensor-based robust whole-body control of highly dynamic legged humanoid robots.” 2018. Web. 13 Apr 2021.

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Author name may be incomplete

Vancouver:

-9534-5383. Sensor-based robust whole-body control of highly dynamic legged humanoid robots. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2018. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/68181.

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Author name may be incomplete

Council of Science Editors:

-9534-5383. Sensor-based robust whole-body control of highly dynamic legged humanoid robots. [Doctoral Dissertation]. University of Texas – Austin; 2018. Available from: http://hdl.handle.net/2152/68181

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University of Texas – Austin

12. -4766-7868. Self-learning control of automated drilling operations.

Degree: PhD, Mechanical Engineering, 2018, University of Texas – Austin

URL: http://hdl.handle.net/2152/65829

► In recent years, drilling automation has sparked significant interest in both the upstream oil and gas industry and the drilling research community. Automation of various… (more)

▼ In recent years, drilling automation has sparked significant interest in both the upstream oil and gas industry and the drilling research community. Automation of various drilling tasks can potentially allow for higher operational efficiency, increased consistency, and reduced risk of trouble events. However, wide adoption of drilling automation has been slow. This can be primarily attributed to the complex nature of drilling, and the high variability in well types and rig specifications that prevent the deployment of off-the-shelf automation solutions. Such complexities justify the need for an automation system that can self-learn by interacting with the drilling environment to reduce uncertainty. The aim of this dissertation is to determine how a drilling automation system can learn from the environment and utilize this learning to control drilling tasks optimally. To provide an answer, the importance of learning, as well as its limitations in dealing with challenges such as insufficient training data, are explored. A self-learning control system is presented that addresses the aforementioned research question in the context of optimization, control, and event detection. By adopting an action-driven learning approach, the control system can learn the parameters that describe system dynamics. An action-driven approach is shown to also enable the learning of the relationship between control actions and user-defined performance metrics. The resulting knowledge of this learning process enables the system to make and execute optimal decisions without relying on simplifying assumptions that are often made in the drilling literature. Detection of trouble drilling events is explored, and methods for reduction of false/missed alarms are presented to minimize false interruptions of the drilling control system. The subcomponents of the self-learning control system are validated using simulated and actual field data from drilling operations to ascertain the effectiveness of the proposed methods. Advisors/Committee Members: Oort, Eric van (advisor), Fernandez, Benito R. (advisor), Chen, Dongmei (committee member), Barr, Ronald E. (committee member), Niekum, Scott (committee member).

Subjects/Keywords: Automated drilling; Drilling optimization; Self-learning control

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APA (6^th Edition):

-4766-7868. (2018). Self-learning control of automated drilling operations. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/65829

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Author name may be incomplete

Chicago Manual of Style (16^th Edition):

-4766-7868. “Self-learning control of automated drilling operations.” 2018. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/65829.

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Author name may be incomplete

MLA Handbook (7^th Edition):

-4766-7868. “Self-learning control of automated drilling operations.” 2018. Web. 13 Apr 2021.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Vancouver:

-4766-7868. Self-learning control of automated drilling operations. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2018. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/65829.

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Author name may be incomplete

Council of Science Editors:

-4766-7868. Self-learning control of automated drilling operations. [Doctoral Dissertation]. University of Texas – Austin; 2018. Available from: http://hdl.handle.net/2152/65829

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Author name may be incomplete

University of Texas – Austin

13. Ul Haq, Asad Arsalan. Robustly stabilizing dual-mode model predictive control.

Degree: PhD, Mechanical Engineering, 2018, University of Texas – Austin

URL: http://hdl.handle.net/2152/69247

► The development of robust control techniques for systems with nonlinear dynamics remains an active and fruitful area of research that continues to become increasingly important… (more)

▼ The development of robust control techniques for systems with nonlinear dynamics remains an active and fruitful area of research that continues to become increasingly important due to the growing complexity and stringent demands of modern engineering systems. This dissertation addresses a number of the key challenges associated with the development of robust controllers that can guarantee stability. Specifically, a robustly stabilizing model predictive control algorithm for nonlinear systems shall be presented. In the first part of this dissertation, a robust strategy for control of overlay in photolithography processes. This phase of the work considers a critical task in semiconductor manufacturing and attempts to minimize the errors in alignment of patterns from layer to layer, which has vital implications on the functionality and quality of the integrated circuits produced. The proposed control strategy simultaneously deals with overlay errors and at a given layer and the propagation of errors across many layers, in the presence of structural and parametric discrepancies between the model and plant dynamics, as well as process noise and disturbances. The robust control approach suggested in the first part of this work does not consider the stability of the closed-loop systems. Additionally, the state and control inputs in the overlay control problem appear linearly in the dynamics, although the uncertain model parameters do relate in nonlinear forms. As the above assumptions do not hold true for a large array of important engineering systems, including other processes involved in multistage manufacturing processes, the next phase of this document tackles the task of developing a dual-mode model predictive control method that can guarantee stability of systems where the states and inputs appear in the dynamics in a nonlinear fashion. In this part of the research work undertaken, it is assumed that the model is a perfect depiction of the system dynamics, i.e. this is a deterministic control task. The developed controller enables tracking of time-varying trajectories without loss of stability guarantees. The final portion of this doctoral dissertation is concerned with the extension of the deterministic dual-mode MPC strategy by inclusion of robustness considerations. In this component of the work, the controller developed will provide guarantees of closed-loop stability in nonlinear dynamic systems that are robust to an array of commonly encountered shortcomings of models used to represent the plant dynamics. The discrepancy between the plant and model may be structural, i.e. aspects of the dynamics are either misrepresented or have not been envisioned as part of the model, parametric, i.e. system identification inaccuracies, or a consequence of process noise and disturbances. Such controllers would be able to guarantee stability while tracking time-varying trajectories in the presence of mild faults and non-catastrophic failures of the system that lead to drifts or shifts in behavior. Advisors/Committee Members: Djurdjanovic, Dragan (advisor), Akella, Maruthi (committee member), Fernandez, Benito (committee member), Chen, Dongmei (committee member), Deshpande, Ashish (committee member).

Subjects/Keywords: Robust control; Model predictive control; Dual-mode control; Overly control; Photolithography; Trajectory tracking; Stability; Nonlinear control

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APA (6^th Edition):

Ul Haq, A. A. (2018). Robustly stabilizing dual-mode model predictive control. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/69247

Chicago Manual of Style (16^th Edition):

Ul Haq, Asad Arsalan. “Robustly stabilizing dual-mode model predictive control.” 2018. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/69247.

MLA Handbook (7^th Edition):

Ul Haq, Asad Arsalan. “Robustly stabilizing dual-mode model predictive control.” 2018. Web. 13 Apr 2021.

Vancouver:

Ul Haq AA. Robustly stabilizing dual-mode model predictive control. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2018. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/69247.

Council of Science Editors:

Ul Haq AA. Robustly stabilizing dual-mode model predictive control. [Doctoral Dissertation]. University of Texas – Austin; 2018. Available from: http://hdl.handle.net/2152/69247

University of Texas – Austin

14. -6402-5416. A planning and control framework for humanoid systems : robust, optimal, and real-time performance.

Degree: PhD, Mechanical engineering, 2016, University of Texas – Austin

URL: http://hdl.handle.net/2152/46774

► Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly… (more)

▼ Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced methods that generate whole-body coordination behaviors and meanwhile fulfill various planning and control objectives. Undoubtedly, these goals pose fundamental challenges to the robotics and control community. To take an incremental step towards reducing the performance gap between theoretical foundations and real implementations, we present a planning and control framework for the humanoid, especially legged robots, for achieving high performance and generating agile motions. A particular concentration is on the robust, optimal and real-time performance. This framework constitutes three hierarchical layers, which are presented from the following perspectives. First, we present a robust optimal phase-space planning framework for dynamic legged locomotion over rough terrain. This framework is a hybrid motion planner incorporating a series of pivotal components. Via centroidal momentum dynamics, we define a new class of locomotion phase-space manifolds, as a Riemannian distance metric, and propose a robust optimal controller to recover from external disturbances at runtime. The agility and robustness capabilities of our proposed framework are illustrated in (i) simulations of dynamic maneuvers over diverse challenging terrains and under external disturbances; (ii) experimental implementations on our point-feet bipedal robot. Second, we take a step toward formally synthesizing high-level reactive planners for whole-body locomotion in constrained environments. We formulate a two-player temporal logic game between the contact planner and its possibly-adversarial environment. The resulting discrete planner satisfies the given task specifications expressed as a fragment of temporal logic. The provable correctness of the low-level execution of the synthesized discrete planner is guaranteed through the so-called simulation relations. We conjecture that this theoretical advance has the potential to act as an entry point for the humanoid community to employ formal methods for the planner verification and synthesis. Third, we propose a distributed control architecture for the latency-prone humanoid robotic systems. A central experimental phenomenon is observed that the stability of high impedance distributed controllers is highly sensitive to damping feedback delay but much less to stiffness feedback delay. We pursue a detailed analysis of the distributed controllers where damping feedback effort is executed in proximity to the control plant, and stiffness feedback effort is implemented in a latency-prone centralized control process. Critically-damped gain selection criteria are designed for not only rigid but also series elastic actuators (SEAs). In particular, we devise a novel impedance performance metric, defined as “Z-region”, simultaneously quantifying the achievable SEA impedance… Advisors/Committee Members: Sentis, Luis (advisor), Fernandez, Benito R (committee member), Stone, Peter (committee member), Bakolas, Efstathios (committee member), Topcu, Ufuk (committee member), Fahrenthold, Eric P (committee member).

Subjects/Keywords: Planning and control; Humanoid robot; Legged locomotion; Manifold; Robustness; Dynamic programming; Hybrid automaton; Temporal logic; Reactive synthesis; Task planning; Whole-body operational space control; Distributed control; Time delay; Passivity; Series elastic actuator; Impedance control; Torque control

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APA (6^th Edition):

-6402-5416. (2016). A planning and control framework for humanoid systems : robust, optimal, and real-time performance. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/46774

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Chicago Manual of Style (16^th Edition):

-6402-5416. “A planning and control framework for humanoid systems : robust, optimal, and real-time performance.” 2016. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/46774.

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MLA Handbook (7^th Edition):

-6402-5416. “A planning and control framework for humanoid systems : robust, optimal, and real-time performance.” 2016. Web. 13 Apr 2021.

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Author name may be incomplete

Vancouver:

-6402-5416. A planning and control framework for humanoid systems : robust, optimal, and real-time performance. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2016. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/46774.

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Author name may be incomplete

Council of Science Editors:

-6402-5416. A planning and control framework for humanoid systems : robust, optimal, and real-time performance. [Doctoral Dissertation]. University of Texas – Austin; 2016. Available from: http://hdl.handle.net/2152/46774

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15. Ambruș, Adrian Marius. Modeling and control of managed pressure drilling operations.

Degree: PhD, Mechanical Engineering, 2017, University of Texas – Austin

URL: http://hdl.handle.net/2152/54113

► The upstream oil and gas industry has witnessed a marked increase in the number of wells drilled in areas with elevated subsurface formation pressures and… (more)

Subjects/Keywords: Managed pressure drilling; Multi-phase hydraulic modeling; Robust control; Event detection

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APA (6^th Edition):

Ambruș, A. M. (2017). Modeling and control of managed pressure drilling operations. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/54113

Chicago Manual of Style (16^th Edition):

Ambruș, Adrian Marius. “Modeling and control of managed pressure drilling operations.” 2017. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/54113.

MLA Handbook (7^th Edition):

Ambruș, Adrian Marius. “Modeling and control of managed pressure drilling operations.” 2017. Web. 13 Apr 2021.

Vancouver:

Ambruș AM. Modeling and control of managed pressure drilling operations. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2017. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/54113.

Council of Science Editors:

Ambruș AM. Modeling and control of managed pressure drilling operations. [Doctoral Dissertation]. University of Texas – Austin; 2017. Available from: http://hdl.handle.net/2152/54113

16. Luo, Zhitong. Sliding mode control of the reaction wheel pendulum.

Degree: MSin Engineering, Mechanical Engineering, 2014, University of Texas – Austin

URL: http://hdl.handle.net/2152/28280

► The Reaction Wheel Pendulum (RWP) is an interesting nonlinear system. A prototypical control problem for the RWP is to stabilize it around the upright position… (more)

▼ The Reaction Wheel Pendulum (RWP) is an interesting nonlinear system. A prototypical control problem for the RWP is to stabilize it around the upright position starting from the bottom, which is generally divided into at least 2 phases: (1) Swing-up phase: where the pendulum is swung up and moves toward the upright position. (2) Stabilization phase: here, the pendulum is controlled to be balanced around the upright position. Previous studies mainly focused on an energy method in swing-up phase and a linearization method in stabilization phase. However, several limitations exist. The energy method in swing-up mode usually takes a long time to approach the upright position. Moreover, its trajectory is not controlled which prevents further extensions. The linearization method in the stabilization phase, can only work for a very small range of angles around the equilibrium point, limiting its applicability. In this thesis, we took the 2nd order state space model and solved it for a constant torque input generating the family of phase-plane trajectories (see Appendix A). Therefore, we are able to plan the motion of the reaction wheel pendulum in the phase plane and a sliding mode controller may be implemented around these trajectories. The control strategy presented here is divided into three phases. (1) In the swing up phase a switching torque controller is designed to oscillate the pendulum until the system’s energy is enough to drive the system to the upright position. Our approach is more generic than previous approaches; (2) In the catching phase a sliding surface is designed in the phase plane based on the zero torque trajectories, and a 2nd order sliding mode controller is implemented to drive the pendulum moving along the sliding surface, which improves the robustness compared to the previous method in which the controller switches to stabilization mode when it reaches a pre-defined region. (3) In the stabilization phase a 2nd order sliding mode integral controller is used to solve the balancing problem, which has the potential to stabilize the pendulum in a larger angular region when compared to the previous linearization methods. At last we combine the 3 phases together in a combined strategy. Both simulation results and experimental results are shown. The control unit is National Instruments CompactRIO 9014 with NI 9505 module for module driving and NI 9411 module for encoding. The Reaction Wheel Pendulum is built by Quanser Consulting Inc. and placed in UT’s Advanced Mechatronics Lab. Advisors/Committee Members: Fernandez, Benito R. (advisor).

Subjects/Keywords: Sliding mode control; The reaction wheel pendulum; Nonlinear control

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APA (6^th Edition):

Luo, Z. (2014). Sliding mode control of the reaction wheel pendulum. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/28280

Chicago Manual of Style (16^th Edition):

Luo, Zhitong. “Sliding mode control of the reaction wheel pendulum.” 2014. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/28280.

MLA Handbook (7^th Edition):

Luo, Zhitong. “Sliding mode control of the reaction wheel pendulum.” 2014. Web. 13 Apr 2021.

Vancouver:

Luo Z. Sliding mode control of the reaction wheel pendulum. [Internet] [Masters thesis]. University of Texas – Austin; 2014. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/28280.

Council of Science Editors:

Luo Z. Sliding mode control of the reaction wheel pendulum. [Masters Thesis]. University of Texas – Austin; 2014. Available from: http://hdl.handle.net/2152/28280

17. Gupta, Somudro. Mechatronics of holonomic mobile base for compliant manipulation.

Degree: MSin Engineering, Mechanical Engineering, 2011, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2011-12-4834

► In order to operate safely and naturally in human-centered environments, robots need to respond compliantly to force and contact interactions. While advanced robotic torsos and… (more)

Subjects/Keywords: Wheeled mobile robot; Compliant manipulation; Holonomic robot; Human-centered robotics; Mobile manipulation; Human-friendly robot; Force control; Torque control

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APA (6^th Edition):

Gupta, S. (2011). Mechatronics of holonomic mobile base for compliant manipulation. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2011-12-4834

Chicago Manual of Style (16^th Edition):

Gupta, Somudro. “Mechatronics of holonomic mobile base for compliant manipulation.” 2011. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2011-12-4834.

MLA Handbook (7^th Edition):

Gupta, Somudro. “Mechatronics of holonomic mobile base for compliant manipulation.” 2011. Web. 13 Apr 2021.

Vancouver:

Gupta S. Mechatronics of holonomic mobile base for compliant manipulation. [Internet] [Masters thesis]. University of Texas – Austin; 2011. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2011-12-4834.

Council of Science Editors:

Gupta S. Mechatronics of holonomic mobile base for compliant manipulation. [Masters Thesis]. University of Texas – Austin; 2011. Available from: http://hdl.handle.net/2152/ETD-UT-2011-12-4834

18. Gonzales, Matthew Robert. Engineering a compliant muscle joint for dynamic locomotion in very rough terrain.

Degree: MSin Engineering, Mechanical Engineering, 2011, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2011-12-4843

► In humanoid robotics, there is a long pursuit of making bipeds capable of walking in highly unstructured and roughly sensed environments. Within this goal, our… (more)

Subjects/Keywords: Human Centered Robotics Lab; Compliant; Artificial muscle

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APA (6^th Edition):

Gonzales, M. R. (2011). Engineering a compliant muscle joint for dynamic locomotion in very rough terrain. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2011-12-4843

Chicago Manual of Style (16^th Edition):

Gonzales, Matthew Robert. “Engineering a compliant muscle joint for dynamic locomotion in very rough terrain.” 2011. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2011-12-4843.

MLA Handbook (7^th Edition):

Gonzales, Matthew Robert. “Engineering a compliant muscle joint for dynamic locomotion in very rough terrain.” 2011. Web. 13 Apr 2021.

Vancouver:

Gonzales MR. Engineering a compliant muscle joint for dynamic locomotion in very rough terrain. [Internet] [Masters thesis]. University of Texas – Austin; 2011. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2011-12-4843.

Council of Science Editors:

Gonzales MR. Engineering a compliant muscle joint for dynamic locomotion in very rough terrain. [Masters Thesis]. University of Texas – Austin; 2011. Available from: http://hdl.handle.net/2152/ETD-UT-2011-12-4843

19. Hall, John Wendell. The Fern algorithm for intelligent discretization.

Degree: MSin Engineering, Mechanical Engineering, 2012, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2012-08-6376

► This thesis proposes and tests a recursive, adpative, and computationally inexpensive method for partitioning real-number spaces. When tested for proof-of-concept on both one- and two-… (more)

Subjects/Keywords: Discrete; Unsupervised learning; Tree structure; Multi-agent systems

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APA (6^th Edition):

Hall, J. W. (2012). The Fern algorithm for intelligent discretization. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2012-08-6376

Chicago Manual of Style (16^th Edition):

Hall, John Wendell. “The Fern algorithm for intelligent discretization.” 2012. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2012-08-6376.

MLA Handbook (7^th Edition):

Hall, John Wendell. “The Fern algorithm for intelligent discretization.” 2012. Web. 13 Apr 2021.

Vancouver:

Hall JW. The Fern algorithm for intelligent discretization. [Internet] [Masters thesis]. University of Texas – Austin; 2012. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2012-08-6376.

Council of Science Editors:

Hall JW. The Fern algorithm for intelligent discretization. [Masters Thesis]. University of Texas – Austin; 2012. Available from: http://hdl.handle.net/2152/ETD-UT-2012-08-6376

20. Slovich, Michael. Case studies in multi-contact locomotion.

Degree: MSin Engineering, Mechanical Engineering, 2012, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2012-05-5619

► The problem of performing complex maneuvers in challenging terrains is crucial to the advancement of legged robots and assistive devices, yet little progress has been… (more)

Subjects/Keywords: Multi-contact locomotion; Robotic locomotion

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APA (6^th Edition):

Slovich, M. (2012). Case studies in multi-contact locomotion. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2012-05-5619

Chicago Manual of Style (16^th Edition):

Slovich, Michael. “Case studies in multi-contact locomotion.” 2012. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2012-05-5619.

MLA Handbook (7^th Edition):

Slovich, Michael. “Case studies in multi-contact locomotion.” 2012. Web. 13 Apr 2021.

Vancouver:

Slovich M. Case studies in multi-contact locomotion. [Internet] [Masters thesis]. University of Texas – Austin; 2012. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2012-05-5619.

Council of Science Editors:

Slovich M. Case studies in multi-contact locomotion. [Masters Thesis]. University of Texas – Austin; 2012. Available from: http://hdl.handle.net/2152/ETD-UT-2012-05-5619

University of Texas – Austin

21. Josserand, Timothy Matthew. Optimally-robust nonlinear control of a class of robotic underwater vehicles.

Degree: PhD, Mechanical Engineering., 2006, University of Texas – Austin

URL: http://hdl.handle.net/2152/3452

► The subject of this dissertation is the optimally-robust nonlinear control of a class of robotic underwater vehicles (RUVs). The RUV class is characterized by high… (more)

▼ The subject of this dissertation is the optimally-robust nonlinear control of a class of robotic underwater vehicles (RUVs). The RUV class is characterized by high fineness ratios (length-to-diameter), axial symmetry, and passive roll stability. These vehicles are optimized for robotic applications needing power efficiency for long-range autonomous operations and motion stability for sensor performance improvement. A familiar example is the REMUS vehicle. The particular robot class is further identified by an inconsistent actuator arrangement where the number of inputs is fewer than the number of degrees of freedom, by the loss of controllability at low surge speeds due to the use of fin-based control actuation, and by an inherent heading instability. Therefore, this important type of RUV comprises an interesting and challenging class of systems to study from a control theoretic perspective. The optimally-robust nonlinear control method combines sliding mode control with stochastic state and model uncertainty estimation. First a regular form sliding mode control law is developed for the heading and depth control of the RUV class. The Particle Filter algorithm is then modified and applied to the particular case of estimating not only the RUV state for control feedback but also the functional uncertainty associated with partially modeled shallow water wave disturbances. The functional uncertainty estimate is used to dynamically adjust the sliding mode controller performance term gain according to the estimate of the wave phase and the RUV’s orientation with respect to the predominate wave direction. As a result, the RUV experiences increased performance over constant gain and Kalman Filter methods in terms of heading stability which increases effectiveness and decreased actuator power consumption which increases the RUV mission time. The proposed technique is general enough to be applied to other systems. An experimental RUV was designed and constructed to compare the performance of the regular form sliding mode controller with the conventional PID-type controller. It is demonstrated that the more complicated formulas of the regular form sliding mode controller can still be implemented real-time in an embedded system and that the controller’s performance with regard to modeling uncertainty justifies the added complexity. Advisors/Committee Members: Fernandez, Benito R. (advisor).

Subjects/Keywords: Remote submersibles – Automatic control; Sliding mode control; Robust control; Remote submersibles – Mathematical models; Robots – Control systems

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APA (6^th Edition):

Josserand, T. M. (2006). Optimally-robust nonlinear control of a class of robotic underwater vehicles. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/3452

Chicago Manual of Style (16^th Edition):

Josserand, Timothy Matthew. “Optimally-robust nonlinear control of a class of robotic underwater vehicles.” 2006. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/3452.

MLA Handbook (7^th Edition):

Josserand, Timothy Matthew. “Optimally-robust nonlinear control of a class of robotic underwater vehicles.” 2006. Web. 13 Apr 2021.

Vancouver:

Josserand TM. Optimally-robust nonlinear control of a class of robotic underwater vehicles. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2006. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/3452.

Council of Science Editors:

Josserand TM. Optimally-robust nonlinear control of a class of robotic underwater vehicles. [Doctoral Dissertation]. University of Texas – Austin; 2006. Available from: http://hdl.handle.net/2152/3452

22. -5025-2877. Cognition in dynamical systems.

Degree: PhD, Mechanical Engineering, 2017, University of Texas – Austin

URL: http://hdl.handle.net/2152/68150

► Cognition is the process of knowing. As carried out by a dynamical system, it is the process by which the system absorbs information into its… (more)

Subjects/Keywords: Cognition; Dynamical systems; Complex networks; Artificial neural networks; Emergence; Context

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APA (6^th Edition):

-5025-2877. (2017). Cognition in dynamical systems. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/68150

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Chicago Manual of Style (16^th Edition):

-5025-2877. “Cognition in dynamical systems.” 2017. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/68150.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

MLA Handbook (7^th Edition):

-5025-2877. “Cognition in dynamical systems.” 2017. Web. 13 Apr 2021.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Vancouver:

-5025-2877. Cognition in dynamical systems. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2017. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/68150.

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

Council of Science Editors:

-5025-2877. Cognition in dynamical systems. [Doctoral Dissertation]. University of Texas – Austin; 2017. Available from: http://hdl.handle.net/2152/68150

Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

23. Raza, Ali, 1977-. Immunity-based framework for heterogeneous mobile robotic systems.

Degree: PhD, Dynamic Systems and Control, 2012, University of Texas – Austin

URL: http://hdl.handle.net/2152/19526

► Artificial immune systems (AIS), biologically inspired from natural immune functions, can be reactive as well as adaptive in handling generic and varying pathogens, respectively. Researchers… (more)

Subjects/Keywords: Artificial immune systems; Multi-agent systems; Heterogeneous robots; Search and rescue robots

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APA (6^th Edition):

Raza, Ali, 1. (2012). Immunity-based framework for heterogeneous mobile robotic systems. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/19526

Chicago Manual of Style (16^th Edition):

Raza, Ali, 1977-. “Immunity-based framework for heterogeneous mobile robotic systems.” 2012. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/19526.

MLA Handbook (7^th Edition):

Raza, Ali, 1977-. “Immunity-based framework for heterogeneous mobile robotic systems.” 2012. Web. 13 Apr 2021.

Vancouver:

Raza, Ali 1. Immunity-based framework for heterogeneous mobile robotic systems. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2012. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/19526.

Council of Science Editors:

Raza, Ali 1. Immunity-based framework for heterogeneous mobile robotic systems. [Doctoral Dissertation]. University of Texas – Austin; 2012. Available from: http://hdl.handle.net/2152/19526

24. Dar, Tehmoor Mehmoud. Vehicle-terrain parameter estimation for small-scale robotic tracked vehicle.

Degree: PhD, Mechanical Engineering, 2010, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2010-12-2086

► Methods for estimating vehicle-terrain interaction parameters for small scale robotic vehicles have been formulated and evaluated using both simulation and experimental studies. A model basis… (more)

▼ Methods for estimating vehicle-terrain interaction parameters for small scale robotic vehicles have been formulated and evaluated using both simulation and experimental studies. A model basis was developed, guided by experimental studies with an iRobot PackBot. The intention was to demonstrate whether a nominally instrumented robotic vehicle could be used as a test platform for generating data for vehicle-terrain parameter estimation. A comprehensive skid-steered model was found to be sensitive enough to distinguish between various forms of unknown terrains. This simulation study also verified that the Bekker model for large scale vehicles adopted for this research was applicable to the small scale robotic vehicle used in this work. This fact was also confirmed by estimating coefficients of friction and establishing their dependence on forward velocity and turning radius as the vehicle traverses different terrains. On establishing that mobility measurements for this robotic were sufficiently sensitive, it was found that estimates could be made of key dynamic variables and vehicle-terrain interaction parameters. Four main contributions are described for reliably and robustly using PackBot data for vehicle-terrain property estimation. These estimation methods should contribute to efforts in improving mobility of small scale tracked vehicles on uncertain terrains. The approach is embodied in a multi-tiered algorithm based on the dynamic and kinematic models for skid-steering as well as tractive force models parameterized by key vehicle-terrain parameters. In order to estimate and characterize the key parameters, nonlinear estimation techniques such as the Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), and a General Newton Raphson (GNR) method are integrated into this multi-tiered algorithm. A unique idea in using an EKF with an added State Noise Compensation algorithm is presented which shows its robustness and consistency in estimating slip variables and other parameters for deformable terrains. In the multi-tiered algorithm, a kinematic model of the robotic vehicle is used to estimate slip variables and turning radius. These estimated variables are stored in a truth table and used in a skid-steered dynamic model to estimate the coefficients of friction. The total estimated slip on the left and right track, along with the total tractive force computed using a motor model, are then used in the GNR algorithm to estimate the key vehicle-terrain parameters. These estimated parameters are cross-checked and confirmed with EKF estimation results. Further, these simulation results verify that the tracked vehicle tractive force is not dependent on cohesion for frictional soils. This sequential algorithm is shown to be effective in estimating vehicle-terrain interaction properties with relatively good accuracy. The estimated results obtained from UKF and EKF are verified and compared with available experimental data, and tested on a PackBot traversing specified terrains at the Southwest… Advisors/Committee Members: Longoria, Raul G. (advisor), Fahrenthold, Eric (committee member), Bryant, Michael D. (committee member), Fernandez, Benito (committee member), Wang, Junmin (committee member).

Subjects/Keywords: Extended Kalman Filter; Unscented Kalman Filter; Newton Raphson method; Robotic tracked vehicle; Parameter estimation; Robotics

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APA (6^th Edition):

Dar, T. M. (2010). Vehicle-terrain parameter estimation for small-scale robotic tracked vehicle. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2010-12-2086

Chicago Manual of Style (16^th Edition):

Dar, Tehmoor Mehmoud. “Vehicle-terrain parameter estimation for small-scale robotic tracked vehicle.” 2010. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2010-12-2086.

MLA Handbook (7^th Edition):

Dar, Tehmoor Mehmoud. “Vehicle-terrain parameter estimation for small-scale robotic tracked vehicle.” 2010. Web. 13 Apr 2021.

Vancouver:

Dar TM. Vehicle-terrain parameter estimation for small-scale robotic tracked vehicle. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2010. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2010-12-2086.

Council of Science Editors:

Dar TM. Vehicle-terrain parameter estimation for small-scale robotic tracked vehicle. [Doctoral Dissertation]. University of Texas – Austin; 2010. Available from: http://hdl.handle.net/2152/ETD-UT-2010-12-2086

25. Do, Khoa Dang. Reconfigurable control in electric utility power plants.

Degree: PhD, Mechanical Engineering, 2012, University of Texas – Austin

URL: http://hdl.handle.net/2152/19469

► In high-level automation industrial processes where maintenance or repair can not be carried out immediately, it is important to design autonomous controllers capable of maintaining… (more)

Subjects/Keywords: Power plant; Reconfiguration control

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APA (6^th Edition):

Do, K. D. (2012). Reconfigurable control in electric utility power plants. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/19469

Chicago Manual of Style (16^th Edition):

Do, Khoa Dang. “Reconfigurable control in electric utility power plants.” 2012. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/19469.

MLA Handbook (7^th Edition):

Do, Khoa Dang. “Reconfigurable control in electric utility power plants.” 2012. Web. 13 Apr 2021.

Vancouver:

Do KD. Reconfigurable control in electric utility power plants. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2012. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/19469.

Council of Science Editors:

Do KD. Reconfigurable control in electric utility power plants. [Doctoral Dissertation]. University of Texas – Austin; 2012. Available from: http://hdl.handle.net/2152/19469

26. Cholette, Michael Edward. Performance monitoring and fault-tolerant control of complex systems with variable operating conditions.

Degree: PhD, Mechanical Engineering, 2012, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2012-08-6068

► Ensuring the reliable operation of engineering systems has long been a subject of great practical and academic interest. This interest is clearly demonstrated by the… (more)

▼ Ensuring the reliable operation of engineering systems has long been a subject of great practical and academic interest. This interest is clearly demonstrated by the preponderance of literature in the area of Fault Detection and Diagnosis (FDD) and Fault Tolerant Control (FTC), spanning the past three decades. However, increasingly stringent performance and safety requirements have led to engineering systems with progressively increasing complexity. This complexity has rendered many traditional FDD and FTC methods exceedingly cumbersome, often to the point of infeasibility. This thesis aims to enable FDD and FTC for complex engineering systems of interacting dynamic subsystems. For such systems, generic FDD/FTC methods have remained elusive. Effects caused by nonlinearities, interactions between subsystems and varying usage patterns complicate FDD and FTC. The goal of this thesis is to develop methods for FDD and FTC that will allow decoupling of anomalies occurred inside the monitored system from those occurred in the systems affecting the monitored system, as well as enabling performance recovery of the monitored system. In pursuit of these goals, FDD and FTC methods are explored that can account for operating regime-dependent effects in monitoring, diagnosis, prognosis and performance recovery for two classes of machines: those that operate in modes that can change only at distinct times (which often occur in manufacturing opera- tions such as drilling, milling, turning) and for those that operate in regimes that are continuously varying (such as automotive systems or electric motors). For machines that operate in modes that can change only at distinct times, a degradation model is postulated which describes how the system degrades over time for each operating regime. Using the framework of Hidden Markov Models (HMMs), modeling and identification tools are developed that enable identification a HMM of degradation for each machine operation. In the sequel, monitoring and prognosis methods that naturally follow from the framework of HMMs are also presented. The modeling and monitoring methodology is then applied to a real-world semiconductor manufacturing process using data provided by a major manufacturer. For machines that operate in regimes that are continuously varying, a behavioral model is postulated that describes the input-output dynamics of the nor- mal system in different operating regimes. Monitoring methods are presented that have the capability to account for operating regime-dependent modeling accuracies and isolate faults that have not been anticipated and for which no fault models are available. By conducting fault detection in a regime-dependent fashion, changes in modeling errors that are due to operating regime changes can be successfully distinguished from changes that are due to truly faulty operation caused by changes in the system dynamics. Enabled by this, unanticipated faults can be isolated through proliferation of the fault detection through the various subsystems of… Advisors/Committee Members: Djurdjanovic, Dragan (advisor), Malikopoulos, Andreas A. (committee member), Fernandez, Benito R. (committee member), Longoria, Raul G. (committee member), Akella, Maruthi R. (committee member).

Subjects/Keywords: Fault detection and diagnosis; Neural networks; Model-predictive control; Fault-tolerant control

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APA (6^th Edition):

Cholette, M. E. (2012). Performance monitoring and fault-tolerant control of complex systems with variable operating conditions. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2012-08-6068

Chicago Manual of Style (16^th Edition):

Cholette, Michael Edward. “Performance monitoring and fault-tolerant control of complex systems with variable operating conditions.” 2012. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2012-08-6068.

MLA Handbook (7^th Edition):

Cholette, Michael Edward. “Performance monitoring and fault-tolerant control of complex systems with variable operating conditions.” 2012. Web. 13 Apr 2021.

Vancouver:

Cholette ME. Performance monitoring and fault-tolerant control of complex systems with variable operating conditions. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2012. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2012-08-6068.

Council of Science Editors:

Cholette ME. Performance monitoring and fault-tolerant control of complex systems with variable operating conditions. [Doctoral Dissertation]. University of Texas – Austin; 2012. Available from: http://hdl.handle.net/2152/ETD-UT-2012-08-6068

27. Castillo, Iván. Nonlinear model-based fault detection and isolation : improvements in the case of single/multiple faults and uncertainties in the model parameters.

Degree: PhD, Chemical Engineering, 2011, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2011-05-3551

► This dissertation addresses fault detection and isolation (FDI) for nonlinear systems based on models using two different approaches. The first approach detects and isolates single… (more)

Subjects/Keywords: Model-based fault detection and isolation; Nonlinear fault detection and isolation; Residuals modeling; Robust fault detection and isolation; Castillo, Ivan; FDI; RFDI

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APA (6^th Edition):

Castillo, I. (2011). Nonlinear model-based fault detection and isolation : improvements in the case of single/multiple faults and uncertainties in the model parameters. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2011-05-3551

Chicago Manual of Style (16^th Edition):

Castillo, Iván. “Nonlinear model-based fault detection and isolation : improvements in the case of single/multiple faults and uncertainties in the model parameters.” 2011. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2011-05-3551.

MLA Handbook (7^th Edition):

Castillo, Iván. “Nonlinear model-based fault detection and isolation : improvements in the case of single/multiple faults and uncertainties in the model parameters.” 2011. Web. 13 Apr 2021.

Vancouver:

Castillo I. Nonlinear model-based fault detection and isolation : improvements in the case of single/multiple faults and uncertainties in the model parameters. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2011. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2011-05-3551.

Council of Science Editors:

Castillo I. Nonlinear model-based fault detection and isolation : improvements in the case of single/multiple faults and uncertainties in the model parameters. [Doctoral Dissertation]. University of Texas – Austin; 2011. Available from: http://hdl.handle.net/2152/ETD-UT-2011-05-3551

28. Mancevski, Vladimir. Fabrication and analysis of carbon nanotube based emitters.

Degree: PhD, Physics, 2011, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2011-08-3990

► We have advanced the state-of-the-art for nano-fabrication of carbon nanotube (CNT) based field emission devices, and have conducted experimental and theoretical investigations to better understand… (more)

▼ We have advanced the state-of-the-art for nano-fabrication of carbon nanotube (CNT) based field emission devices, and have conducted experimental and theoretical investigations to better understand the reasons for the high reduced brightness achieved. We have demonstrated that once the CNT emitter failure modes are better understood and resolved, such CNT emitters can easily reach reduced brightness on the order of 10⁹ A m⁻² sr⁻¹ V⁻¹ and noise levels of about 1%. These results are about 10% better than the best brightness results from a nanotip emitter archived to date. Our CNT emitters have order of magnitude better reduced brightness than state-of-the-art commercial Schottky emitters. Our analytical models of field emission matched our experimental results well. The CNT emitter was utilized in a modified commercial scanning electron microscope (SEM) and briefly operated to image a sample. We also report a successful emission from a lateral CNT emitter element having a single suspended CNT, where the electron emission is from the CNT sidewall. The lateral CNT emitters have reduced brightness on the order of 10⁸ A m⁻² sr⁻¹ V⁻¹, about 10X less than the vertical CNT emitters we fabricated and analyzed. The characteristics of the lateral field emitter were analyzed for manually fabricated and directly grown CNT emitters. There was no significant difference in performance based on the way the CNT emitter was fabricated. We showed that the fabrication technique for making a single CNT emitter element can be scaled to an array of elements, with potential density of 10⁶-10⁷ CNT emitters per cm². We also report a new localized, site selective technique for editing carbon nanotubes using water vapor and a focused electron beam. We have demonstrated the use of this technique to cut CNTs to length with 10s of nanometers precision and to etch selected areas from CNTs with 10s of nanometers precision. The use of this technique was demonstrated by editing a lateral CNT emitter. We have conducted investigations to demonstrate the effects of higher local water pressure on the CNT etching efficiency. This was achieved by developing a new method of localized gas delivery with a nano-manipulator. Advisors/Committee Members: Markert, John T. (advisor), Yao, Zhen (committee member), Shih, Chih-Kang (committee member), Niu, Qian (committee member), Fernandez, Benito (committee member).

Subjects/Keywords: Carbon nanotube; CNT; Field emission; Scanning electron microscope; High brightness; Lateral CNT emitter; Sidewall emission; Carbon nanotube editing; CNT etching; EBIE; EBID

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APA (6^th Edition):

Mancevski, V. (2011). Fabrication and analysis of carbon nanotube based emitters. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2011-08-3990

Chicago Manual of Style (16^th Edition):

Mancevski, Vladimir. “Fabrication and analysis of carbon nanotube based emitters.” 2011. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2011-08-3990.

MLA Handbook (7^th Edition):

Mancevski, Vladimir. “Fabrication and analysis of carbon nanotube based emitters.” 2011. Web. 13 Apr 2021.

Vancouver:

Mancevski V. Fabrication and analysis of carbon nanotube based emitters. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2011. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2011-08-3990.

Council of Science Editors:

Mancevski V. Fabrication and analysis of carbon nanotube based emitters. [Doctoral Dissertation]. University of Texas – Austin; 2011. Available from: http://hdl.handle.net/2152/ETD-UT-2011-08-3990

University of Texas – Austin

29. Wu, Zhaohong, 1975-. Automated optimal design of dynamic systems.

Degree: PhD, Mechanical Engineering, 2007, University of Texas – Austin

URL: http://hdl.handle.net/2152/13282

Subjects/Keywords: Computer-aided design

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APA (6^th Edition):

Wu, Zhaohong, 1. (2007). Automated optimal design of dynamic systems. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/13282

Chicago Manual of Style (16^th Edition):

Wu, Zhaohong, 1975-. “Automated optimal design of dynamic systems.” 2007. Doctoral Dissertation, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/13282.

MLA Handbook (7^th Edition):

Wu, Zhaohong, 1975-. “Automated optimal design of dynamic systems.” 2007. Web. 13 Apr 2021.

Vancouver:

Wu, Zhaohong 1. Automated optimal design of dynamic systems. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2007. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/13282.

Council of Science Editors:

Wu, Zhaohong 1. Automated optimal design of dynamic systems. [Doctoral Dissertation]. University of Texas – Austin; 2007. Available from: http://hdl.handle.net/2152/13282

University of Texas – Austin

30. Cholette, Michael Edward. Precedent-free fault isolation in a diesel engine EGR valve system.

Degree: MSin Engineering, Mechanical Engineering, 2009, University of Texas – Austin

URL: http://hdl.handle.net/2152/ETD-UT-2009-12-610

► An application of a recently introduced framework for isolating unprecedented faults for an automotive engine EGR valve system is presented. Using normal behavior data generated… (more)

Subjects/Keywords: Fault detection; Diagnosis; Neural networks

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APA (6^th Edition):

Cholette, M. E. (2009). Precedent-free fault isolation in a diesel engine EGR valve system. (Masters Thesis). University of Texas – Austin. Retrieved from http://hdl.handle.net/2152/ETD-UT-2009-12-610

Chicago Manual of Style (16^th Edition):

Cholette, Michael Edward. “Precedent-free fault isolation in a diesel engine EGR valve system.” 2009. Masters Thesis, University of Texas – Austin. Accessed April 13, 2021. http://hdl.handle.net/2152/ETD-UT-2009-12-610.

MLA Handbook (7^th Edition):

Cholette, Michael Edward. “Precedent-free fault isolation in a diesel engine EGR valve system.” 2009. Web. 13 Apr 2021.

Vancouver:

Cholette ME. Precedent-free fault isolation in a diesel engine EGR valve system. [Internet] [Masters thesis]. University of Texas – Austin; 2009. [cited 2021 Apr 13]. Available from: http://hdl.handle.net/2152/ETD-UT-2009-12-610.

Council of Science Editors:

Cholette ME. Precedent-free fault isolation in a diesel engine EGR valve system. [Masters Thesis]. University of Texas – Austin; 2009. Available from: http://hdl.handle.net/2152/ETD-UT-2009-12-610

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