Este trabalho analisa o uso do protocolo WirelessHART para a implementação de sistemas de controle em laço fechado. São discutidas possíveis arquiteturas de implementação de laços de controle, as quais se diferem basicamente pelo local na arquitetura do sistema de controle em rede em que o controlador será executado. Optou-se pela análise do comportamento do protocolo WirelessHART numa arquitetura que considera o módulo de controle localizado num dispositivo host, o qual se comunica via HART-UDP com o gateway da rede. Para a análise da proposta desta dissertação foram descritos os mecanismos necessários para a realização do laço de controle sobre uma rede WirelessHART real, em um ambiente que apresenta todas as características de uma instalação industrial. Os resultados obtidos mostram que, com a arquitetura proposta, o laço de controle apresenta latências não determinísticas. Para a realização deste trabalho, foram apresentados dois estudos de caso: (i) o controle de uma válvula comumente utilizada na indústria de petróleo; (ii) e um processo simulado, que considera um controlador baseado em eventos, onde o sinal de controle é calculado de acordo com os tempos de comunicação permitidos pela rede entre o controlador e o processo. Os resultados obtidos mostram que é possível efetuar controle apesar dos atrasos ocasionados pela rede, desde que sejam levados em conta estes atrasos no cálculo do sinal de controle, podendo assim mostrar há degradação no desempenho do sistema sob controle. / This work analyzes the use of WirelessHART protocol for the implementation of closed-loop control systems. It discusses possible architectures for implementing control loops, which differ by the location where the controller is executing. For the performance evaluation of the WirelessHART protocol behavior, an architecture that considers the control module located in a device, which communicates via Hart-UDP with the network gateway. The Experimental evaluations presented in this dissertation were performed in a setting that has all the characteristics of an industrial installation. The results showed that in the proposed architecture, the control loop has not deterministic latencies. Two case studies were carried on: (i) the control of a valve commonly used in oil and gas industrial applications; (ii) and a simulated process that considers an event-based controller where the control signal is calculated according to the communication time allowed by the network between the controller and the process. The results show that it is possible to perform control despite network delays, when taking into account the delays in the calculation of the control signal.

Made available in DSpace on 2017-07-10T17:11:50Z (GMT). No. of bitstreams: 1 LUCIANO MAURO ARLEY SUP2.pdf: 2686269 bytes, checksum: 28a697be163c9a8e1f7c5d0c8abc16b6 (MD5) Previous issue date: 2012-04-20 / This work presents a physical and logical architecture of an intelligent Micro-Grid in order to perform the integrated energy management of the various distributed energy resources (REDs) of an organization. In this way, it is initially proposed an Integrated Energy Management System (SGIE), through which defines the action strategies for the supervision and control of the REDs, which identifies the needs and requirements to be met by the technology architecture. Subsequently, the document presents the concepts of Micro-Grid and how the monitoring and control system would help in the efficient and effective use of various energy resources in production, transformation or end use, to ensure that they are integrated into the operation of Micro-Grid. The presented paradigm is framed in new vision of power systems, known as Smart Grid. These smart grids might be formed from the union of several sub-networks package, called Smart µGrid, whose main concepts, requirements and technologies necessary to build are presented. Finally, it is presented a proposal for a Smart µGrid architecture, set in the Itaipu Technological Park, which aims to meet the need of its SGIE, but basically it is thought to work as a living laboratory in which it will be possible to learn concepts of smart grid acting on it. / No presente trabalho apresenta-se uma arquitetura física e lógica de uma microrrede inteligente com o objetivo de realizar a gestão integral da energia dos diversos Recursos Energéticos Distribuídos (REDs) de uma organização. Nesse sentido, inicialmente é proposto um Sistema de Gestão Integral da Energia (SGIE), através do qual são definidas as estratégias de atuação para a supervisão e controle dos REDs, o que permite identificar as necessidades e requisitos a serem atendidos pela arquitetura tecnológica.Posteriormente o trabalho apresenta os conceitos de microrredes e como o sistema de monitoramento e controle contribuiria no gerenciamento eficiente, efetivo e eficaz dos diversos recursos energéticos, seja na produção, na transformação ou no uso final, buscando que os mesmos estejam integrados à operação da microrrede. O paradigma apresentado está enquadrado na nova visão dos sistemas elétricos, conhecida como Smart Grid ou rede inteligente. Essas redes inteligentes podem ser formadas a partir da união de bolsões de sub-redes, denominadas Smart µGrid, das quais são apresentados os principais conceitos, requisitos e tecnologias viabilizadoras. Finalmente, é apresentada a proposta de arquitetura para uma Smart µGrid, ambientada no Parque Tecnológico Itaipu, a qual tem a finalidade de atender as necessidades do SGIE do mesmo, porém, fundamentalmente, o que se busca é que funcione como um laboratório vivo, através do qual será possível apreender conceitos de Smart Grid atuando sobre ela.

O monitoramento de grandes estruturas está diretamente ligado à segurança das mesmas, pois sendo elas naturais ou artificiais, estão sempre sujeitas a variações em suas dimensões e posições, no espaço e no tempo, o que pode representar riscos sociais, ambientais e econômicos. Dessa maneira, a presente pesquisa apresenta um estudo sobre métodos de determinação de coordenadas espaciais, disponíveis na literatura e empregados atualmente nos trabalhos práticos de engenharia, quanto aos aspectos de monitoração estrutural, tendo por finalidade simular e determinar deslocamentos controlados de alvos. A dissertação tem como principal objetivo testar as vantagens dos procedimentos automáticos realizados por meio de estações totais robóticas a partir do uso de métodos de medição em estudo no Laboratório de Mensuração do Departamento de Transportes da Escola de Engenharia de São Carlos (STT/EESC/USP), em comparação com o método polar, convencionalmente utilizado na maioria dos projetos de monitoração estrutural. O principal método aplicado nesta dissertação é denominado Método das Distâncias Mínimas, o qual se fundamenta no princípio da minimização de funções matemáticas definidas pelo somatório das distâncias entre os pontos de medição e os alvos definidos para o monitoramento. As distâncias, neste caso, são determinadas a partir das medições de ângulos zenitais e azimutais medidos com estações totais robóticas e automáticas. Com isso, pretende-se mostrar que o uso de equipamentos topográficos modernos com capacidade para desenvolver rotinas de automação de busca e medição de alvos permite realizar medidas com alto nível de automação, controle e qualidade. Mostra-se nesta dissertação que a tecnologia de busca automática de prismas permite automatizar os procedimentos de mensuração aplicados ao monitoramento de estruturas, possibilitando auscultar estruturas de maneira contínua sem a interferência do operador, o que aumenta sensivelmente a qualidade dos resultados. / The monitoring of large structures is directly linked to their safety, because they are always subject to variations in their dimensions and positions in space and time, which can pose social, environmental and economic risks, being the structures natural or artificial. Thus, the following research presents a study about the methods to determine spatial coordinates, available in the literature and currently employed in practical engineering, and also includes the structural issues of monitoring, aiming to simulate and determine controlled displacements of targets. This paper has as main objective to test the advantages of automatic procedures performed using robotic total stations using measurement methods in a study at the Measurement Transport Department Laboratory of the São Carlos School of Engineering (STT/EESC/USP), in comparison to the polar method, conventionally used in most structural monitoring projects. The main method applied in this thesis is called Minimum Distances Method, which is based on the principle of mathematical functions minimization defined by the sum of the distances between the measurement points and the targets set for the monitoring. The distances, in this case, are determined from the measurements of azimuth and zenithal angles measured with automatic and total robotic stations. The main purpose is to show that the use of modern surveying equipment with capacity to develop automation routines of search and targets measurement allows performing measurements with high level of automation, control and quality. It is shown in this paper that the technology of prisms automatic search permit to automate the measurement procedures applied to the monitoring of structures, enabling to continuously auscultate the structures without the operator interference, which significantly improves the quality of results.

Made available in DSpace on 2016-12-12T20:22:52Z (GMT). No. of bitstreams: 1 Leandro Israel Pinto.pdf: 1973331 bytes, checksum: 859388e323baf2b51cb58d1386fe1ceb (MD5) Previous issue date: 2014-06-25 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / The IEC 61499 standard defines a development model for industrial automation and control, it defines a visual language that can facilitate the implementation of distributed control system. This work presents the proposal and implementation of ICARU-FB, an Open Source multi-platform environment, capable of running the function blocks defined in IEC 61499 on architectures with few computational resources. A virtual machine was designed and implemented to perform networks of function blocks on 8-bit platforms with minimal resources. It was also ported to run on a 64-bit computer. Two case studies were performed in order to verify compliance with IEC 61499. Through the case studies, it was verified that it is possible to meet the requirements of the standard, such as configurability, interoperability and portability. The case studies also demonstrated the ability of the environment to reconfigure the software at runtime. / A norma IEC 61499 define um modelo de desenvolvimento para automação e controle industrial, ela estabelece uma linguagem visual que pode facilitar a implementação de sistemas de controle distribuídos. Esse trabalho apresenta a proposta e implementação do ICARU-FB, um ambiente Open Source multiplataforma, que é capaz de executar a linguagem definida na norma IEC 61499 em arquiteturas com poucos recursos computacionais. Uma maquina virtual foi projetada e implementada para executar redes blocos de funções em plataformas de 8 bits com o mínimo de recursos. Ela também foi portada para executar em um computador de 64 bits. Dois estudos de caso foram realizados a fim de verificar a conformidade com a norma IEC 61499. Através desses estudos de caso, foi verificado que é possível atender aos requisitos da norma IEC 61499, como configurabilidade, interoperabilidade e portabilidade. Os estudos de caso também demonstraram a habilidade do ambiente de reconfigurar o software em tempo de execução.

Submitted by Napoleana Barros Martins (napoleana_martins@hotmail.com) on 2016-08-01T15:38:31Z No. of bitstreams: 1 Dissertação Hiram Carlos Costa Amaral.pdf: 24315368 bytes, checksum: 3708b71cd79a7cfa94b2c34c95182cc2 (MD5) / Approved for entry into archive by Divisão de Documentação/BC Biblioteca Central (ddbc@ufam.edu.br) on 2016-08-24T19:39:54Z (GMT) No. of bitstreams: 1 Dissertação Hiram Carlos Costa Amaral.pdf: 24315368 bytes, checksum: 3708b71cd79a7cfa94b2c34c95182cc2 (MD5) / Approved for entry into archive by Divisão de Documentação/BC Biblioteca Central (ddbc@ufam.edu.br) on 2016-08-24T19:44:53Z (GMT) No. of bitstreams: 1 Dissertação Hiram Carlos Costa Amaral.pdf: 24315368 bytes, checksum: 3708b71cd79a7cfa94b2c34c95182cc2 (MD5) / Made available in DSpace on 2016-08-24T19:44:53Z (GMT). No. of bitstreams: 1 Dissertação Hiram Carlos Costa Amaral.pdf: 24315368 bytes, checksum: 3708b71cd79a7cfa94b2c34c95182cc2 (MD5) Previous issue date: 2016-03-28 / FAPEAM - Fundação de Amparo à Pesquisa do Estado do Amazonas / Manufacturing emerging paradigms have been used in an attempt to solve the problem of customization, i.e. the manufacture of products with mid and low batches and high variability. Namely Evolvable Production Systems (EPS) has been able to address the problem through the concept of mechatronics agents and a reversal of the local where intelligence (the production process) is in th the manufacturing system. However, there are still many gaps and barriers for the widespread use of EPS, namely the real prototypes that address the concepts of evolvable systems. This work presents the development of an evolvable system called Agile Intelligent System for Evolvable Process (SIAPE), which aimed adpats to demand variations and the evolution of the production system according to the changing of the product. To test the viability of SIAPE was first created a simplified automation prototype called Product UFAM which is compared with the SIAPE prototype itself among their compliance with the requirements of Industry Platform 4.0 (i4.0). / Paradigmas emergentes de fabricação têm sido usados na tentativa de solucionar o problema da customização, isto é, a manufatura de produtos em lotes baixos e com elevados níveis de variedades de produtos. Notadamente os Evolvable Production Systems (EPS) tem conseguido tratar o problema através do conceito de agentes mecatrônicos e de uma inversão do local de onde a inteligência do processo produtivo está dentro do sistema de manufatura. Entretanto, ainda há várias lacunas e barreiras ao amplo uso de EPS, dentre elas a necessidade de protótipos de sistemas que contemplem os conceitos de sistemas evolutivos. Este trabalho apresenta o desenvolvimento de um sistema evolutivo denominado de Sistema Inteligente Ágil de Processo Evolutivo - SIAPE que visa adaptação à demanda e a evolução do sistema produtivo de acordo com a evolução do produto. Para testar a viabilidade do SIAPE foi criado primeiramente um protótipo de automação simplificado chamado de Produto UFAM que é comparado com o protótipo SIAPE propriamente dito em torno de suas aderências às exigências da Plataforma da Indústria 4.0 (i4.0).

O monitoramento de grandes estruturas está diretamente ligado à segurança das mesmas, pois sendo elas naturais ou artificiais, estão sempre sujeitas a variações em suas dimensões e posições, no espaço e no tempo, o que pode representar riscos sociais, ambientais e econômicos. Dessa maneira, a presente pesquisa apresenta um estudo sobre métodos de determinação de coordenadas espaciais, disponíveis na literatura e empregados atualmente nos trabalhos práticos de engenharia, quanto aos aspectos de monitoração estrutural, tendo por finalidade simular e determinar deslocamentos controlados de alvos. A dissertação tem como principal objetivo testar as vantagens dos procedimentos automáticos realizados por meio de estações totais robóticas a partir do uso de métodos de medição em estudo no Laboratório de Mensuração do Departamento de Transportes da Escola de Engenharia de São Carlos (STT/EESC/USP), em comparação com o método polar, convencionalmente utilizado na maioria dos projetos de monitoração estrutural. O principal método aplicado nesta dissertação é denominado Método das Distâncias Mínimas, o qual se fundamenta no princípio da minimização de funções matemáticas definidas pelo somatório das distâncias entre os pontos de medição e os alvos definidos para o monitoramento. As distâncias, neste caso, são determinadas a partir das medições de ângulos zenitais e azimutais medidos com estações totais robóticas e automáticas. Com isso, pretende-se mostrar que o uso de equipamentos topográficos modernos com capacidade para desenvolver rotinas de automação de busca e medição de alvos permite realizar medidas com alto nível de automação, controle e qualidade. Mostra-se nesta dissertação que a tecnologia de busca automática de prismas permite automatizar os procedimentos de mensuração aplicados ao monitoramento de estruturas, possibilitando auscultar estruturas de maneira contínua sem a interferência do operador, o que aumenta sensivelmente a qualidade dos resultados. / The monitoring of large structures is directly linked to their safety, because they are always subject to variations in their dimensions and positions in space and time, which can pose social, environmental and economic risks, being the structures natural or artificial. Thus, the following research presents a study about the methods to determine spatial coordinates, available in the literature and currently employed in practical engineering, and also includes the structural issues of monitoring, aiming to simulate and determine controlled displacements of targets. This paper has as main objective to test the advantages of automatic procedures performed using robotic total stations using measurement methods in a study at the Measurement Transport Department Laboratory of the São Carlos School of Engineering (STT/EESC/USP), in comparison to the polar method, conventionally used in most structural monitoring projects. The main method applied in this thesis is called Minimum Distances Method, which is based on the principle of mathematical functions minimization defined by the sum of the distances between the measurement points and the targets set for the monitoring. The distances, in this case, are determined from the measurements of azimuth and zenithal angles measured with automatic and total robotic stations. The main purpose is to show that the use of modern surveying equipment with capacity to develop automation routines of search and targets measurement allows performing measurements with high level of automation, control and quality. It is shown in this paper that the technology of prisms automatic search permit to automate the measurement procedures applied to the monitoring of structures, enabling to continuously auscultate the structures without the operator interference, which significantly improves the quality of results.

<div>Efficient engine operation is a fundamental control problem in automotive applications. Robust control algorithms are necessary to achieve satisfactory, safe engine performance</div><div>at all operating conditions while reducing emissions. This thesis develops a framework for control architecture design to enable robust air handling system management.</div><div><br></div><div>The first work in the thesis derives a simple physics-based, control-oriented model for turbocharged lean burn engines which is able to capture the critical engine dynamics that are</div><div>needed to design the controller. The control-oriented model is amenable for control algorithm development and includes the impacts of modulation to any combination of four actuators: throttle valve, bypass valve, fuel rate, and wastegate valve. The controlled outputs: engine speed, differential pressure across throttle and air-to-fuel ratio are modeled as functions of selected states and inputs. Two validation strategies, open-loop and closed-loop are used to validate the accuracy of both nonlinear and linear versions of the control-oriented model. The relative gain array is applied to the linearized engine model to understand the degree of interactions between plant inputs and outputs as well as the best input-output pairing as a function of frequency. With strong evidence of high degree of coupling between inputs and outputs, a coordinated multiple-input multiple-output (MIMO) controller is hypothesized to perform better than a single-input single-output (SISO) controller. A framework to design robust model-based H1 MIMO controllers for any given linear plant, while considering state and output multiplicative uncertainties as well as actuator bandwidths is developed. The framework also computes the singular structure value, μ for the uncertain closed-loop system to quantify robustness, both in terms of stability and performance. The multi-tracking control problem targets engine speed, differential pressure across throttle as well as air-to-fuel ratio to achieve satisfactory engine performance while also preventing compressor surge and reducing engine emissions. A controller switching methodology using slow-fast controller decomposition and hysteresis at switching points is proposed to smoothly switch control authority between several MIMO controllers. The control design approach is applied to a truth-reference GT-Power engine model to evaluate the closed-loop controller performance. The engine response obtained using the robust MIMO controller is compared with that obtained using a state-of-the-art benchmark controller to evaluate the additional benefits of the MIMO controller.</div><div><br></div><div><div>In the second study, a robust 2-degree of freedom controller that commands eBooster speed to control air-to-fuel ratio, and a robust MIMO coordinated controller to control gas</div><div>exchange process in a diesel engine with electrified air handling architecture are developed. The MIMO controller simultaneously controls engine speed, mass fraction of the recirculated exhaust gas as well as air-to-fuel ratio. The actuators available for control in the engine include the exhaust gas recirculation valve, exhaust throttle valve, fuel injection rate, eBooster speed, eBooster bypass valve. To design the robust eBooster controller, the input-output relationship between eBooster speed and air-to-fuel ratio is estimated using system identification techniques. The robust MIMO controller is synthesized using a physics-based mean value control-oriented engine model that accurately represents the high-fidelity GT-Power model. In the first control strategy, the robust eBooster controller is added to an already existing stock engine control unit while in the second control strategy, the stock engine control unit is replaced with the multiple-input multiple-output controller. The two control architectures are tested under different operating conditions to evaluate the controller performance. Simulation results with the control architectures developed in the thesis are compared to a baseline engine configuration, where the engine operates without eBooster. Although it is observed that both these control algorithms significantly improve engine performance as compared to the baseline configuration, MIMO controller provides the best engine performance overall.</div></div>

<div>The goal of this research is to develop a method of control for a team of unmanned aerial and ground robots that is resilient, robust, and scalable given both complete and incomplete information of the environment. The method presented in this paper integrates approximate and optimal methods of path planning integrated with a market-based task allocation strategy. Further work presents a solution to unmanned ground vehicle path planning within the developed mission planning system framework under incomplete information. Deep reinforcement learning is proposed to solve movement through unknown terrain environment. The final demonstration for Advantage-Actor Critic deep reinforcement learning elicits successful implementation of the proposed model.</div>

<div> In recent decades as environmental concerns and the cost and availability of fossil fuels have become more pressing issues, the need to extract more work from each drop of fuel has increased accordingly. Electrification has been identified as a way to address these issues in vehicles powered by internal combustion engines, as it allows existing engines to be operated more efficiently, reducing overall fuel consumption. Two applications of electrification are discussed in the work presented: a series-electric hybrid powertrain from an on-road class 8 truck, and an electrically supercharged diesel engine for use in the series hybrid power system of a wheel loader.</div><div> </div><div> The first application is an experimental powertrain developed by a small start-up company for use in highway trucks. The work presented in this thesis shows test results from routes along (1) Interstate 75 between Florence, KY, and Lexington, KY, and (2) Interstates 74 and 70 east of Indianapolis, during which tests the startup collected power flow data from the vehicle's motor, generator, and battery, and three-dimensional position data from a GPS system. Based on these data, it was determined that the engine-driven generator provided an average of 15% more propulsive energy than required due to electrical losses in the drivetrain. Some of these losses occured in the power electronics, which are shown to be 82% - 92% efficient depending on power flow direction, but the battery showed significant signs of wear, accounting for the remainder of these electrical losses. Overall, most of the system's fuel savings came from its regenerative braking capability, which recaptured between 3% and 12% of the total drive energy output. Routes with significant grade changes maximize this energy recapture percentage, but it is shown minimizing drag and rolling resistance with a more modern truck and trailer could further increase this energy capture to between 8% and 18%.</div><div> </div><div> In the second application, an electrified air handling system is added to a 4.5L engine, allowing it to replace the 6.8L engine in John Deere's 644K hybrid wheel loader. Most of the fuel savings arise from downsizing the engine, so in this case an electrically driven supercharger (eBooster) allows the engine to meet the peak torque requirements of the larger, original engine. In this thesis, a control-oriented nonlinear state space model of the modified 4.5L engine is presented and linearized for use in designing a robust, multi-input multi-output (MIMO) controller which commands the engine's fueling rate, eBooster, eBooster bypass valve, exhaust gas recirculation (EGR) valve, and exhaust throttle. This integrated control strategy will ultimately allow superior tracking of engine speed, EGR fraction, and air-fuel ratio (AFR) targets, but these performance gains over independent single-input single-output control loops for each component demand linear models that accurately represent the engine's gas exchange dynamics. To address this, a physics-based model is presented and linearized to simulate pressures, temperatures, and shaft speeds based on sub-models for exhaust temperature, cylinder charge flow, valve flow, compressor flow, turbine flow, compressor power, and turbine power. The nonlinear model matches the truth reference engine model over the 1200 rpm - 2000 rpm and 100 Nm - 500 Nm speed and torque envelope of interest within 10% in steady state and 20% in transient conditions. Two linear models represent the full engine's dynamics over this speed and torque range, and these models match the truth reference model within 20% in the middle of the operating envelope. However, specifically at (1) low load for any speed and (2) high load at high speed, the linear models diverge from the nonlinear and truth reference models due to nonlinear engine dynamics lost in linearization. Nevertheless, these discrepancies at the edges of the engine's operating envelope are acceptable for control design, and if greater accuracy is needed, additional linear models can be generated to capture the engine's dynamics in this region.</div>

This thesis dissertation mainly compares and investigates laboratory study of different implementation methodologies of applied control systems and how they can be adopted in industrial, as well as commercial, automation applications. Namely the research paper aims to assess or evaluate eventual feedback control loops' performance and robustness over multiple conventional or state-of-the-art technologies in the field of applied industrial automation and instrumentation by implementing a laboratory case study setup: the ball on beam system. Hence, the paper tries to close the gap between industry and academia by: first, conducting a historical study and background information of main evolutional and technological eras in the field of industrial process control automation and instrumentation. Then, some related basic theoretical as well as practical concepts are reviewed in Chapter 2 of the report before displaying the detailed design. After that, the next Chapter, analyses the ball on beam control system problem as the case studied in the context of this research through reviewing previous literature, modeling and simulation. The following Chapter details the proposed design and implementation of the ball on beam case study as if it is under the introduced distributed industrial automation architecture. Finally, Chapter 5 concludes this work by listing several points leaned, remarks, and observations, and stating possible development and the future vision of this research.