You searched for subject:(decomposition based control).
Showing records 1 – 5 of
5 total matches.
No search limiters apply to these results.
McMaster University
1.
Jafarinasab, Mohammad.
Motion Control of Under-actuated Aerial Robotic Manipulators.
Degree: PhD, 2018, McMaster University
URL: http://hdl.handle.net/11375/22801 
► This thesis presents model-based adaptive motion control algorithms for under-actuated aerial robotic manipulators combining a conventional multi-rotor Unmanned Aerial Vehicle (UAV) and a multi-link serial…
(more)
▼ This thesis presents model-based adaptive motion control algorithms for under-actuated
aerial robotic manipulators combining a conventional multi-rotor Unmanned Aerial Vehicle
(UAV) and a multi-link serial robotic arm. The resulting control problem is quite
challenging due to the complexity of the combined system dynamics, under-actuation, and
possible kinematic redundancy. The under-actuation imposes second-order nonholonomic
constraints on the system motion and prevents independent control of all system degrees
of freedom (DOFs). Desired reference trajectories can only be provided for a selected
group of independent DOFs, whereas the references for the remaining DOFs must be determined such that they are consistent with the motion constraints. This restriction prevents
the application of common model-based control methods to the problem of this thesis. Using
insights from the system under-actuated dynamics, four motion control strategies are
proposed which allow for semi-autonomous and fully-autonomous operation. The control
algorithm is fully developed and presented for two of these strategies; its development for
the other two configurations follows similar steps and hence is omitted from the thesis.
The proposed controllers incorporate the combined dynamics of the UAV base and the serial
arm, and properly account for the two degrees of under-actuation in the plane of the
propellers. The algorithms develop and employ the second-order nonholonomic constraints
to numerically determine motion references for the dependent DOFs which are consistent with the motion constraints. This is a unique feature of the motion control algorithms
in this thesis which sets them apart from all other prior work in the literature of UAVmanipulators.
The control developments follow the so-called method of virtual decomposition,
which by employing a Newtonian formulation of the UAV-Manipulator dynamics,
sidesteps the complexities associated with the derivation and parametrization of a lumped
Lagrangian dynamics model. The algorithms are guaranteed to produce feasible control
commands as the constraints associated with the under-actuation are explicitly considered
in the control calculations. A method is proposed to handle possible kinematic redundancy
in the presence of second-order motion constraints. The control design is also extended to
include the propeller dynamics, for cases that such dynamics may significantly impact the
system response. A Lyapunov analysis demonstrates the stability of the overall system and
the convergence of the motion tracking errors. Experimental results with an octo-copter integrated with a 3 DOF robotic manipulator show the effectiveness of the proposed control strategies.
Thesis
Doctor of Philosophy (PhD)
Advisors/Committee Members: Sirouspour, Shahin, Electrical and Computer Engineering.
Subjects/Keywords: Motion control; under-actuation; nonholonomic; virtual decomposition; model-based; adaptive control; kinematic redundancy; multi-body system; aerial robotic; UAV; manipulator
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Jafarinasab, M. (2018). Motion Control of Under-actuated Aerial Robotic Manipulators. (Doctoral Dissertation). McMaster University. Retrieved from http://hdl.handle.net/11375/22801
Chicago Manual of Style (16th Edition):
Jafarinasab, Mohammad. “Motion Control of Under-actuated Aerial Robotic Manipulators.” 2018. Doctoral Dissertation, McMaster University. Accessed January 16, 2021.
http://hdl.handle.net/11375/22801.
MLA Handbook (7th Edition):
Jafarinasab, Mohammad. “Motion Control of Under-actuated Aerial Robotic Manipulators.” 2018. Web. 16 Jan 2021.
Vancouver:
Jafarinasab M. Motion Control of Under-actuated Aerial Robotic Manipulators. [Internet] [Doctoral dissertation]. McMaster University; 2018. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/11375/22801.
Council of Science Editors:
Jafarinasab M. Motion Control of Under-actuated Aerial Robotic Manipulators. [Doctoral Dissertation]. McMaster University; 2018. Available from: http://hdl.handle.net/11375/22801
University of Western Ontario
2.
Ryan, Kayla N.
A Quantitative EMG Assessment of Motor Unit Recruitment in Patients with Ulnar Neuropathy.
Degree: 2013, University of Western Ontario
URL: https://ir.lib.uwo.ca/etd/1666
► The aim of the current study was to assess the test – retest reliability of motor unit firing rates with the use of decomposition based…
(more)
▼ The aim of the current study was to assess the test – retest reliability of motor unit firing rates with the use of decomposition based quantitative electromyography, and to quantify motor unit firing rates in the first dorsal interosseous of patients with ulnar neuropathy. 8 healthy subjects (mean age 35 ± 10 years) and 8 patients (mean age 48 ± 10 years) with ulnar neuropathy participated in the study. Following the acquisition of a maximum M wave, needle and surface detected EMGs were collected simultaneously during 30-second contractions performed at threshold (1-2% maximum voluntary contraction (MVC)) and 10% MVC- RMS ( maximum voluntary contraction root mean square) to obtain motor unit potential (MUP) trains. From the data collected, motor unit amplitude, duration, area, firing rate, and motor unit number estimates (MUNE) were calculated. Test-retest reliability of MU firing rates in controls was high (ICC =0.85). Motor unit firing rates were found to be moderately correlated with recruitment as rated by experienced clinicians and the MU firing rates were increased in patients with ulnar neuropathy.
Subjects/Keywords: Ulnar Neuropathy; motor unit recruitment; firing rates; decomposition based quantitative electromyography; first dorsal interosseous; Exercise Science; Motor Control
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Ryan, K. N. (2013). A Quantitative EMG Assessment of Motor Unit Recruitment in Patients with Ulnar Neuropathy. (Thesis). University of Western Ontario. Retrieved from https://ir.lib.uwo.ca/etd/1666
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Ryan, Kayla N. “A Quantitative EMG Assessment of Motor Unit Recruitment in Patients with Ulnar Neuropathy.” 2013. Thesis, University of Western Ontario. Accessed January 16, 2021.
https://ir.lib.uwo.ca/etd/1666.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ryan, Kayla N. “A Quantitative EMG Assessment of Motor Unit Recruitment in Patients with Ulnar Neuropathy.” 2013. Web. 16 Jan 2021.
Vancouver:
Ryan KN. A Quantitative EMG Assessment of Motor Unit Recruitment in Patients with Ulnar Neuropathy. [Internet] [Thesis]. University of Western Ontario; 2013. [cited 2021 Jan 16].
Available from: https://ir.lib.uwo.ca/etd/1666.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ryan KN. A Quantitative EMG Assessment of Motor Unit Recruitment in Patients with Ulnar Neuropathy. [Thesis]. University of Western Ontario; 2013. Available from: https://ir.lib.uwo.ca/etd/1666
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
3.
Varol, Huseyin Atakan.
Progress towards the intelligent control of a powered transfemoral prosthesis.
Degree: MS, Electrical Engineering, 2007, Vanderbilt University
URL: http://hdl.handle.net/1803/13605
► In this thesis, firstly a real-time gait intent recognition approach for use in controlling a fully powered transfemoral prosthesis is described. Rather than utilize an…
(more)
▼ In this thesis, firstly a real-time gait intent recognition approach for use in controlling a fully powered transfemoral prosthesis is described. Rather than utilize an “echo control” as proposed by others, which requires instrumentation of the sound-side leg, the proposed approach infers user intent
based on the characteristic shape of the force and moment vector of interaction between the user and prosthesis. The real-time intent recognition approach utilizes a K-nearest neighbor algorithm with majority voting and threshold biasing schemes to increase its robustness. The ability of the approach to recognize in real time a person’s intent to stand or walk at one of three different speeds is demonstrated on measured biomechanics data. Secondly, an active passive torque
decomposition procedure for use in controlling a fully powered transfemoral prosthesis is described. The active and passive parts of the joint torques are extracted by solving a constrained least squares optimization problem. The proposed approach generates the torque reference of joints by combining the active part, which is a function of the force and moment vector of the interaction between user and prosthesis and the passive part, which has a nonlinear spring-dashpot behavior. The ability of the approach to reconstruct the required joint torques is again demonstrated in simulation on measured biomechanics data. Finally, the calibration procedure of the three axis socket load cell of the prosthesis' mechanical sensory interface is also presented in the thesis.
Advisors/Committee Members: George E. Cook (committee member), Michael Goldfarb (Committee Chair), D. Mitch Wilkes (Committee Chair).
Subjects/Keywords: decomposition based control; powered transfemoral prosthesis; gait intent recognition; nearest neighbor algorithms; Artificial legs – Design and construction; Intelligent control systems
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Varol, H. A. (2007). Progress towards the intelligent control of a powered transfemoral prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13605
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Varol, Huseyin Atakan. “Progress towards the intelligent control of a powered transfemoral prosthesis.” 2007. Thesis, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/13605.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Varol, Huseyin Atakan. “Progress towards the intelligent control of a powered transfemoral prosthesis.” 2007. Web. 16 Jan 2021.
Vancouver:
Varol HA. Progress towards the intelligent control of a powered transfemoral prosthesis. [Internet] [Thesis]. Vanderbilt University; 2007. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/13605.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Varol HA. Progress towards the intelligent control of a powered transfemoral prosthesis. [Thesis]. Vanderbilt University; 2007. Available from: http://hdl.handle.net/1803/13605
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
4.
Palm, Johan.
High Performance FPGA-Based Computation and Simulation for MIMO Measurement and Control Systems.
Degree: Design and Engineering, 2009, Mälardalen University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7477
► The Stressometer system is a measurement and control system used in cold rolling to improve the flatness of a metal strip. In order to…
(more)
▼ The Stressometer system is a measurement and control system used in cold rolling to improve the flatness of a metal strip. In order to achieve this goal the system employs a multiple input multiple output (MIMO) control system that has a considerable number of sensors and actuators. As a consequence the computational load on the Stressometer control system becomes very high if too advance functions are used. Simultaneously advances in rolling mill mechanical design makes it necessary to implement more complex functions in order for the Stressometer system to stay competitive. Most industrial players in this market considers improved computational power, for measurement, control and modeling applications, to be a key competitive factor. Accordingly there is a need to improve the computational power of the Stressometer system. Several different approaches towards this objective have been identified, e.g. exploiting hardware parallelism in modern general purpose and graphics processors.
Another approach is to implement different applications in FPGA-based hardware, either tailored to a specific problem or as a part of hardware/software co-design. Through the use of a hardware/software co-design approach the efficiency of the Stressometer system can be increased, lowering overall demand for processing power since the available resources can be exploited more fully. Hardware accelerated platforms can be used to increase the computational power of the Stressometer control system without the need for major changes in the existing hardware. Thus hardware upgrades can be as simple as connecting a cable to an accelerator platform while hardware/software co-design is used to find a suitable hardware/software partition, moving applications between software and hardware.
In order to determine whether this hardware/software co-design approach is realistic or not, the feasibility of implementing simulator, computational and control applications in FPGAbased hardware needs to be determined. This is accomplished by selecting two specific applications for a closer study, determining the feasibility of implementing a Stressometer measuring roll simulator and a parallel Cholesky algorithm in FPGA-based hardware.
Based on these studies this work has determined that the FPGA device technology is perfectly suitable for implementing both simulator and computational applications. The Stressometer measuring roll simulator was able to approximate the force and pulse signals of the Stressometer measuring roll at a relative modest resource consumption, only consuming 1747 slices and eight DSP slices. This while the parallel FPGA-based Cholesky component is able to provide performance in the range of GFLOP/s, exceeding the performance of the personal computer used for comparison in several simulations, although at a very high resource consumption. The result of this thesis, based on the two feasibility studies, indicates that it is possible to increase the processing power of the Stressometer control system using the FPGA…
Subjects/Keywords: FPGA; Field Programmable Gate Arrays; Parallel Cholesky Decomposition; Hardware/Software Co-Design; Digital Systems; MIMO Measurement and Control; FPGA-based Simulation; FPGA-based Computation
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Palm, J. (2009). High Performance FPGA-Based Computation and Simulation for MIMO Measurement and Control Systems. (Thesis). Mälardalen University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7477
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Palm, Johan. “High Performance FPGA-Based Computation and Simulation for MIMO Measurement and Control Systems.” 2009. Thesis, Mälardalen University. Accessed January 16, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7477.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Palm, Johan. “High Performance FPGA-Based Computation and Simulation for MIMO Measurement and Control Systems.” 2009. Web. 16 Jan 2021.
Vancouver:
Palm J. High Performance FPGA-Based Computation and Simulation for MIMO Measurement and Control Systems. [Internet] [Thesis]. Mälardalen University; 2009. [cited 2021 Jan 16].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7477.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Palm J. High Performance FPGA-Based Computation and Simulation for MIMO Measurement and Control Systems. [Thesis]. Mälardalen University; 2009. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7477
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Queensland University of Technology
5.
Chan, Teck-Wai.
Proximity-to-separation based energy function control strategy for power system stability.
Degree: 2003, Queensland University of Technology
URL: http://eprints.qut.edu.au/15840/
► The issue of angle instability has been widely discussed in the power engineering literature. Many control techniques have been proposed to provide the complementary synchronizing…
(more)
▼ The issue of angle instability has been widely discussed in the power engineering literature. Many control techniques have been proposed to provide the complementary synchronizing and damping torques through generators and/or network connected power apparatus such as FACTs, braking resistors and DC links. The synchronizing torque component keeps all generators in synchronism while damping torque reduces oscillations and returns the power system to its pre-fault operating condition. One of the main factors limiting the transfer capacity of the electrical transmission network is the separation of the power system at weak links which can be understood by analogy with a large spring-mass system. However, this weak-links related problem is not dealt with in existing control designs because it is non-trivial during transient period to determine credible weak links in a large power system which may consist of hundreds of strong and weak links. The difficulty of identifying weak links has limited the performance of existing controls when it comes to the synchronization of generators and damping of oscillations. Such circumstances also restrict the operation of power systems close to its transient stability limits. These considerations have led to the primary research question in this thesis, "To what extent can the synchronization of generators and damping of oscillations be maximized to fully extend the transient stability limits of power systems and to improve the transfer capacity of the network?" With the recent advances in power electronics technology, the extension of transfer capacity is becoming more readily achievable. Complementary to the use of power electronics technology to improve transfer capacity, this research develops an improved control strategy by examining the dynamics of the modes of separation associated with the strong and weak links of the reduced transmission network. The theoretical framework of the control strategy is based on Energy Decomposition and Unstable Equilibrium Points. This thesis recognizes that under extreme loadings of the transmission network containing strong and weak links, weak-links are most likely to dictate the transient stability limits of the power system. We conclude that in order to fully extend the transient stability limits of power system while maximizing the value of control resources, it is crucial for the control strategy to aim its control effort at the energy component that is most likely to cause a separation. The improvement in the synchronization amongst generators remains the most important step in the improvement of the transfer capacity of the power system network.
Subjects/Keywords: Lyapunov; power system; stability; switching; energy function-based control; bang-bang control; saturation function; energy in phase portrait; partly stable region; energy weighting; cutset; energy decomposition; cutest energy; proximity-to-critical cutset energy; proximity-to-partly stable region; cutset energy-based control; quantified transient stability limits and transfer capacity.
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Chan, T. (2003). Proximity-to-separation based energy function control strategy for power system stability. (Thesis). Queensland University of Technology. Retrieved from http://eprints.qut.edu.au/15840/
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Chan, Teck-Wai. “Proximity-to-separation based energy function control strategy for power system stability.” 2003. Thesis, Queensland University of Technology. Accessed January 16, 2021.
http://eprints.qut.edu.au/15840/.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Chan, Teck-Wai. “Proximity-to-separation based energy function control strategy for power system stability.” 2003. Web. 16 Jan 2021.
Vancouver:
Chan T. Proximity-to-separation based energy function control strategy for power system stability. [Internet] [Thesis]. Queensland University of Technology; 2003. [cited 2021 Jan 16].
Available from: http://eprints.qut.edu.au/15840/.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Chan T. Proximity-to-separation based energy function control strategy for power system stability. [Thesis]. Queensland University of Technology; 2003. Available from: http://eprints.qut.edu.au/15840/
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
. 
Open Access Theses and Dissertations