In this research, a wind feedforward (FF) controller has been developed to augment closed loop feedback controllers for the position and heading station keeping control of Unmanned Surface Vehicles (USVs). The performance of the controllers was experimentally tested using a 16 foot USV in an outdoor marine environment. The FF controller was combined with three nonlinear feedback controllers, a Proportional–Derivative (PD) controller, a Backstepping (BS) controller, and a Sliding mode (SM) controller, to improve the station-keeping performance of the USV. To address the problem of wind model uncertainties, adaptive wind feedforward (AFF) control schemes are also applied to the FF controller, and implemented together with the BS and SM feedback controllers. The adaptive law is derived using Lyapunov Theory to ensure stability. On-water station keeping tests of each combination of FF and feedback controllers were conducted in the U.S. Intracoastal Waterway in Dania Beach, FL USA. Five runs of each test condition were performed; each run lasted at least 10 minutes. The experiments were conducted in Sea State 1 with an average wind speed of between 1 to 4 meters per second and significant wave heights of less than 0.2 meters. When the performance of the controllers is compared using the Integral of the Absolute Error (IAE) of position criterion, the experimental results indicate that the BS and SM feedback controllers significantly outperform the PD feedback controller (e.g. a 33% and a 44% decreases in the IAE, respectively). It is also found that FF is beneficial for all three feedback controllers and that AFF can further improve the station keeping performance. For example, a BS feedback control combined with AFF control reduces the IAE by 25% when compared with a BS feedback controller combined with a non-adaptive FF controller. Among the eight combinations of controllers tested, SM feedback control combined with AFF control gives the best station keeping performance with an average position and heading error of 0.32 meters and 4.76 degrees, respectively. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2016. / FAU Electronic Theses and Dissertations Collection

Analysis, design and implementation of cooperative control strategies for multi-robot systems under communication constraints is the topic of this thesis. Motivated by a rapidly growing number of applications with networked robots and other vehicles, fundamental limits on the achievable collaborative behavior are studied for large teams of autonomous agents. In particular, a problem is researched in detail in which the group of agents is supposed to agree on a common state without any centralized coordination. Due to the dynamics of the individual agents and their varying connectivity, this problemis an extension of the classical consensus problemin computer science. It captures a crucial component of many desirable features of multi-robot systems, such as formation, flocking, rendezvous, synchronizing and covering. Analytical bounds on the convergence rate to consensus are derived for several systemconfigurations. It is shown that static communication networks that exhibit particular symmetries yield slow convergence, if the connectivity of each agent does not scale with the total number of agents. On the other hand, some randomly varying networks allow fast convergence even if the connectivity is low. It is furthermore argued that if the data being exchanged between the agents are quantized, it may heavily degrade the performance. The extent to which certain quantization schemes are more suitable than others is quantified through relations between the number of agents and the required total network bit rate. The design of distributed coordination and estimation schemes based on the consensus algorithm is presented. A receding horizon coordination strategy utilizing subgradient optimization is developed. Robustness and implementation aspects are discussed. A new collaborative estimation method is also proposed. The implementation of multi-robot control systems is difficult due to the high systemcomplexity. In the final part of this thesis, a hierarchical control architecture appropriate for a class of coordination tasks is therefore suggested. It allows a formal verification of the correctness of the implemented control algorithms. / QC 20100920

The bioreactor landfill is an emerging concept for solid waste management that has gained significant attention in the last decade. This technology employs specific operational practices to enhance the microbial decomposition processes in landfills. However, the unsupervised management and lack of operational guidelines for the bioreactor landfill, specifically leachate manipulation and recirculation processes, usually results in less than optimal system performance. Therefore, these limitations have led to the development of SMART (Sensor-based Monitoring and Remote-control Technology), an expert control system that utilizes real-time monitoring of key system parameters in the management of bioreactor landfills. SMART replaces conventional open-loop control with a feedback control system that aids the human operator in making decisions and managing complex control issues. The target from this control system is to provide optimum conditions for the biodegradation of the refuse, and also, to enhance the performance of the bioreactor in terms of biogas generation. SMART includes multiple cascading logic controllers and mathematical calculations through which the quantity and quality of the recirculated solution are determined. The expert system computes the required quantities of leachate, buffer, supplemental water, and nutritional amendments in order to provide the bioreactor landfill microbial consortia with their optimum growth requirements. Soft computational methods, particularly fuzzy logic, were incorporated in the logic controllers of SMART so as to accommodate the uncertainty, complexity, and nonlinearity of the bioreactor landfill processes. Fuzzy logic was used to solve complex operational issues in the control program of SMART including: (1) identify the current operational phase of the bioreactor landfill based on quantifiable parameters of the leachate generated and biogas produced, (2) evaluate the toxicological status of the leachate based on certain parameters that directly contribute to or indirectly indicates bacterial inhibition, and (3) predict biogas generation rates based on the operational phase, leachate recirculation, and sludge addition. The later fuzzy logic model was upgraded to a hybrid model that employed the learning algorithm of artificial neural networks to optimize the model parameters. SMART was applied to a pilot-scale bioreactor landfill prototype that incorporated the hardware components (sensors, communication devices, and control elements) and the software components (user interface and control program) of the system. During a one-year monitoring period, the feasibility and effectiveness of the SMART system were evaluated in terms of multiple leachate, biogas, and waste parameters. In addition, leachate heating was evaluated as a potential temperature control tool in bioreactor landfills. The pilot-scale implementation of SMART demonstrated the applicability of the system. SMART led to a significant improvement in the overall performance of the BL in terms of methane production and leachate stabilization. Temperature control via recirculation of heated leachate achieved high degradation rates of organic matter and improved the methanogenic activity.

The bioreactor landfill is an emerging concept for solid waste management that has gained significant attention in the last decade. This technology employs specific operational practices to enhance the microbial decomposition processes in landfills. However, the unsupervised management and lack of operational guidelines for the bioreactor landfill, specifically leachate manipulation and recirculation processes, usually results in less than optimal system performance. Therefore, these limitations have led to the development of SMART (Sensor-based Monitoring and Remote-control Technology), an expert control system that utilizes real-time monitoring of key system parameters in the management of bioreactor landfills. SMART replaces conventional open-loop control with a feedback control system that aids the human operator in making decisions and managing complex control issues. The target from this control system is to provide optimum conditions for the biodegradation of the refuse, and also, to enhance the performance of the bioreactor in terms of biogas generation. SMART includes multiple cascading logic controllers and mathematical calculations through which the quantity and quality of the recirculated solution are determined. The expert system computes the required quantities of leachate, buffer, supplemental water, and nutritional amendments in order to provide the bioreactor landfill microbial consortia with their optimum growth requirements. Soft computational methods, particularly fuzzy logic, were incorporated in the logic controllers of SMART so as to accommodate the uncertainty, complexity, and nonlinearity of the bioreactor landfill processes. Fuzzy logic was used to solve complex operational issues in the control program of SMART including: (1) identify the current operational phase of the bioreactor landfill based on quantifiable parameters of the leachate generated and biogas produced, (2) evaluate the toxicological status of the leachate based on certain parameters that directly contribute to or indirectly indicates bacterial inhibition, and (3) predict biogas generation rates based on the operational phase, leachate recirculation, and sludge addition. The later fuzzy logic model was upgraded to a hybrid model that employed the learning algorithm of artificial neural networks to optimize the model parameters. SMART was applied to a pilot-scale bioreactor landfill prototype that incorporated the hardware components (sensors, communication devices, and control elements) and the software components (user interface and control program) of the system. During a one-year monitoring period, the feasibility and effectiveness of the SMART system were evaluated in terms of multiple leachate, biogas, and waste parameters. In addition, leachate heating was evaluated as a potential temperature control tool in bioreactor landfills. The pilot-scale implementation of SMART demonstrated the applicability of the system. SMART led to a significant improvement in the overall performance of the BL in terms of methane production and leachate stabilization. Temperature control via recirculation of heated leachate achieved high degradation rates of organic matter and improved the methanogenic activity.

No description available.

Current robot manipulation and control paradigms have largely been developed for static or highly structured environments such as those common in factories. For most techniques in robot trajectory generation, such as heuristic-based geometric planning, this has led to putting a high cost on contact with the world. This approach and methodology can be prohibitive to robots operating in many unmodeled and dynamic environments. This dissertation presents work on using haptic based feedback (torque and tactile sensing) to formulate a controller for robot manipulation in clutter. We define “clutter” as any environment in which we expect the robot to make both incidental and purposeful contact while maneuvering and manipulating. The controllers developed in this dissertation take the form of single or multi-time step Model Predictive Control (a form of optimal control which incorporates feedback) which attempts to regulate contact forces at multiple locations on a robot arm while reaching to a goal. The results and conclusions in this dissertation are based on extensive testing in simulation (tens of thousands of trials) and testing in realistic scenarios with real robots incorporating tactile sensing. The approach is novel in the sense that it allows contact and explicitly incorporate the contact and predictive model of the robot arm in calculating control effort at every time step. The expected broader impact of this research is progress towards a new foundation of reactive feedback controllers that will include a higher likelihood of success in many constrained and dynamic scenarios such as reaching into containers without line of sight, maneuvering in cluttered search and rescue situations or working with unpredictable human co-workers.

The bioreactor landfill is an emerging concept for solid waste management that has gained significant attention in the last decade. This technology employs specific operational practices to enhance the microbial decomposition processes in landfills. However, the unsupervised management and lack of operational guidelines for the bioreactor landfill, specifically leachate manipulation and recirculation processes, usually results in less than optimal system performance. Therefore, these limitations have led to the development of SMART (Sensor-based Monitoring and Remote-control Technology), an expert control system that utilizes real-time monitoring of key system parameters in the management of bioreactor landfills. SMART replaces conventional open-loop control with a feedback control system that aids the human operator in making decisions and managing complex control issues. The target from this control system is to provide optimum conditions for the biodegradation of the refuse, and also, to enhance the performance of the bioreactor in terms of biogas generation. SMART includes multiple cascading logic controllers and mathematical calculations through which the quantity and quality of the recirculated solution are determined. The expert system computes the required quantities of leachate, buffer, supplemental water, and nutritional amendments in order to provide the bioreactor landfill microbial consortia with their optimum growth requirements. Soft computational methods, particularly fuzzy logic, were incorporated in the logic controllers of SMART so as to accommodate the uncertainty, complexity, and nonlinearity of the bioreactor landfill processes. Fuzzy logic was used to solve complex operational issues in the control program of SMART including: (1) identify the current operational phase of the bioreactor landfill based on quantifiable parameters of the leachate generated and biogas produced, (2) evaluate the toxicological status of the leachate based on certain parameters that directly contribute to or indirectly indicates bacterial inhibition, and (3) predict biogas generation rates based on the operational phase, leachate recirculation, and sludge addition. The later fuzzy logic model was upgraded to a hybrid model that employed the learning algorithm of artificial neural networks to optimize the model parameters. SMART was applied to a pilot-scale bioreactor landfill prototype that incorporated the hardware components (sensors, communication devices, and control elements) and the software components (user interface and control program) of the system. During a one-year monitoring period, the feasibility and effectiveness of the SMART system were evaluated in terms of multiple leachate, biogas, and waste parameters. In addition, leachate heating was evaluated as a potential temperature control tool in bioreactor landfills. The pilot-scale implementation of SMART demonstrated the applicability of the system. SMART led to a significant improvement in the overall performance of the BL in terms of methane production and leachate stabilization. Temperature control via recirculation of heated leachate achieved high degradation rates of organic matter and improved the methanogenic activity.

Knowing the semantic category of a robot's current position not only facilitates the robot's navigation, but also greatly improves its ability to serve human needs and to interpret the scene. Visual Place Categorization (VPC) is addressed in this dissertation, which refers to the problem of predicting the semantic category of a place using visual information collected from an autonomous robot platform. Census Transform (CT) histogram and Histogram Intersection Kernel (HIK) based visual codebooks are proposed to represent an image. CT histogram encodes the stable spatial structure of an image that reflects the functionality of a location. It is suitable for categorizing places and has shown better performance than commonly used descriptors such as SIFT or Gist in the VPC task. HIK has been shown to work better than the Euclidean distance in classifying histograms. We extend it in an unsupervised manner to generate visual codebooks for the CT histogram descriptor. HIK codebooks help CT histogram to deal with the huge variations in VPC and improve system accuracy. A computational method is also proposed to generate HIK codebooks in an efficient way. The first significant VPC dataset in home environments is collected and is made publicly available, which is also used to evaluate the VPC system based on the proposed techniques. The VPC system achieves promising results for this challenging problem, especially for important categories such as bedroom, bathroom, and kitchen. The proposed techniques achieved higher accuracies than competing descriptors and visual codebook generation methods.

Mainly based on Li Li's Ph. D. dissertation: University of Arizona, Tucson, 2005. / Includes bibliographical references and index.

Thesis (M.S.)--Brigham Young University. Dept. of Mechanical Engineering, 2006. / Includes bibliographical references (p. 91-93).