The manufacturing systems operating within today's global enterprises are invariably dynamic and complicated. Lean manufacturing works well where demand is relatively stable and predictable where product diversity is low. However, we need a much higher agility where customer demand is volatile with high product variety. Frequent changes of product designs need quicker response times in ramp-up to volume. To stay competitive in this 21st century global industrialization, companies must posses a new operation design strategy for responsive manufacturing systems that react to unpredictable market changes as well as to launch new products in a cost-effective and efficient way. The objective of this research is to develop an alternative method to model, analyze, and design responsive manufacturing systems using classical control theory. This new approach permits industrial engineers to study and better predict the transient behavior of responsive manufacturing systems in terms of production lead time, WIP overshoot, system responsiveness, and lean finished inventory. We provide a one-to-one correspondence to translate manufacturing terminologies from the System Dynamics (SD) models into the block diagram representation and transfer functions. We can analytically determine the transient characteristics of responsive manufacturing systems. This analytical formulation is not offered in discrete event simulation or system dynamics approach. We further introduce the Root Locus design technique that investigates the sensitivity of the closed-loop poles location as they relate to the manufacturing world on a complex s-plane. This subsequent complex plane analysis offers new management strategies to better predict and control the dynamic responses of responsive manufacturing systems in terms of inventory build-up (i.e., leanness) and lead time. We define classical control theory terms and interpret their meanings according to the closed-loop poles locations to assist production management in utilizing the Root Locus design tool. Again, by applying this completely graphic view approach, we give a new design approach that determine the responsive manufacturing parametric set of values without iterative trial-and-error simulation replications as found in discrete event simulation or system dynamics approach. / Ph. D.

High Redundancy Actuation (HRA) is a novel type of fault tolerant actuator. By comprising a relatively large number of actuation elements, faults in the elements can be inherently accommodated without resulting in a failure of the complete actuation system. By removing the possibility of faults detection and reconfiguration, HRA can provide high reliability and availability. The idea is motivated by the composition of human musculature. Our musculature can sustain damage and still function, sometimes with reduced performance, and even complete loss of a muscle group can be accommodated through kinematics redundancy, e.g. the use of just one leg. Electro-mechanical actuation is used as single element inside HRA. This thesis is started with modelling and simulation of individual actuation element and two basic structures to connect elements, in series and in parallel. A relatively simple HRA is then modelled which engages a two-by-two series-in-parallel configuration. Based on this HRA, position feedback controllers are designed using both classical and optimal algorithms under two control structures. All controllers are tested under both healthy and faults injected situations. Finally, a hardware demonstrator is set up based simulation studies. The demonstrator is controlled in real time using an xPC Target system. Experimental results show that the HRA can continuously work when one element fails, although performance degradation can be expected.

This study describes the design and implementation of the altitude and heading autopilot algorithms for a fixed wing unmanned air vehicle and navigation algorithm for attitude and heading reference outputs. Algorithm development is based on the nonlinear mathematical model of Middle East Technical University Tactical Unmanned Air Vehicle (METU TUAV), which is linearized at a selected trim condition. A comparison of nonlinear and linear mathematical models is also done. Based on the linear mathematical model of the METU TUAV, the classical control methods are applied during the design process of autopilot algorithms. For the confirmation purposes of the autopilot and navigation algorithms, a nonlinear simulation environment is developed in Matlab/Simulink including nonlinear model of the METU TUAV, altitude and heading autopilot loops, nonlinear actuator models, sensor models and navigation model. In the first part of the thesis, feedback signals for the controller are provided by IMU free measurements. In the second part, the feedback signals are provided by an attitude and heading reference mode, which incorporates the gyroscope solutions with the magnetic sensor and accelerometer sensor measurements by using a Kalman filter algorithm. The performance comparison of the controller is done for both cases where the effects of having different modes of the measurement sources are investigated.

Submitted by RICARDO GOUVEIA TEODORO (ricardo.teodoro@unesp.br) on 2018-10-16T20:04:29Z No. of bitstreams: 1 Tese - Ricardo Gouveia Teodoro 13-10-2018.pdf: 17108638 bytes, checksum: 32a3e14ede25e327e8ff29fb9d267225 (MD5) / Approved for entry into archive by Cristina Alexandra de Godoy null (cristina@adm.feis.unesp.br) on 2018-10-18T12:11:00Z (GMT) No. of bitstreams: 1 teodoro_rg_dr_ilha.pdf: 17108638 bytes, checksum: 32a3e14ede25e327e8ff29fb9d267225 (MD5) / Made available in DSpace on 2018-10-18T12:11:00Z (GMT). No. of bitstreams: 1 teodoro_rg_dr_ilha.pdf: 17108638 bytes, checksum: 32a3e14ede25e327e8ff29fb9d267225 (MD5) Previous issue date: 2018-08-13 / A Estimulação Elétrica Funcional tem sido utilizada para auxiliar no restabelecimento de funções motoras em paraplégicos. Neste trabalho é proposto um procedimento experimental para identificar as incertezas politópicas de um modelo dinâmico do movimento do membro inferior, produzido por estimulação elétrica aplicada no quadríceps. Foram realizadas comparações entre controle em malha aberta e dois controladores em malha fechada. O projeto dos controladores foi baseado em desigualdades matriciais lineares (LMIs). Os resultados experimentais foram obtidos para 5 voluntários hígidos e 4 voluntários paraplégicos. Devido à incerteza dos parâmetros da planta, os resultados experimentais mostraram que o sinal de controle é incerto para um ponto de operação. Pela primeira vez aplicou-se controle chaveado com incerteza e estimulação elétrica para controlar o movimento do membro inferior. O controlador chaveado u_(σ,ξ) (t)apresentou o menor valor da derivada temporal da função de Lyapunov e compensou a incerteza do sinal de controle. / Functional Electrical Stimulation has been used to aid and restore motor functions in paraplegics. In this work, we propose an experimental procedure to identify the polytopic uncertainties of a dynamic model of the lower limb movement produced by electrical stimuli applied to the quadriceps. A comparison between open-loop control and two closed-loop controllers was performed. The controller design was based on linear matrix inequalities (LMIs). Experimental results were obtained for 5 healthy volunteers and 4 paraplegic volunteers. Due to plant parameters uncertainties, the experimental results showed that the control signal is uncertain for an operating point. For the first time, a robust switched controller and electrical stimulation were applied to control the movement of the lower limb. The switched controller u_(σ,ξ) (t)presented the smallest time-derivative value of the Lyapunov function and compensated the uncertainty in the control signal.

Orientador: Aparecido Augusto de Carvalho / Resumo: A Estimulação Elétrica Funcional tem sido utilizada para auxiliar no restabelecimento de funções motoras em paraplégicos. Neste trabalho é proposto um procedimento experimental para identificar as incertezas politópicas de um modelo dinâmico do movimento do membro inferior, produzido por estimulação elétrica aplicada no quadríceps. Foram realizadas comparações entre controle em malha aberta e dois controladores em malha fechada. O projeto dos controladores foi baseado em desigualdades matriciais lineares (LMIs). Os resultados experimentais foram obtidos para 5 voluntários hígidos e 4 voluntários paraplégicos. Devido à incerteza dos parâmetros da planta, os resultados experimentais mostraram que o sinal de controle é incerto para um ponto de operação. Pela primeira vez aplicou-se controle chaveado com incerteza e estimulação elétrica para controlar o movimento do membro inferior. O controlador chaveado u_(σ,ξ) (t)apresentou o menor valor da derivada temporal da função de Lyapunov e compensou a incerteza do sinal de controle. / Abstract: Functional Electrical Stimulation has been used to aid and restore motor functions in paraplegics. In this work, we propose an experimental procedure to identify the polytopic uncertainties of a dynamic model of the lower limb movement produced by electrical stimuli applied to the quadriceps. A comparison between open-loop control and two closed-loop controllers was performed. The controller design was based on linear matrix inequalities (LMIs). Experimental results were obtained for 5 healthy volunteers and 4 paraplegic volunteers. Due to plant parameters uncertainties, the experimental results showed that the control signal is uncertain for an operating point. For the first time, a robust switched controller and electrical stimulation were applied to control the movement of the lower limb. The switched controller u_(σ,ξ) (t)presented the smallest time-derivative value of the Lyapunov function and compensated the uncertainty in the control signal. / Doutor

In recent years, more and more light aircraft enter our daily life, from Agricultural applications, emergency rescue, flight experiment and training to Barriers to entry, light aircraft always have their own advantages. Thus, they have become more and more popular. However, in the process of GDP research about Flight Control System design for the Flying Crane, the author read a lot of literature about Flight Control System design, then noticed that the research in Flight Control System have apparently neglected to Low-cost vehicles. So it is necessary to do some study about Flight Control System for this kind of airplane. The study will more concern the control law design for ultra-light aircraft, the author hopes that with an ‘intelligence’ Flight Control System design, this kind of aircraft could sometimes perform flying tasks according to a prearranged flight path and without a pilot. As the Piper J-3 cub is very popular and the airframe data can be obtained more easily, it was selected as an objective aircraft for the control law design. Finally, a ¼ scale Piper J-3 cub model is selected and the aerodynamics coefficients are calculated by DATCOM and AVL. Based on the forces and moments acting on the aircraft, the trim equilibrium was calculated for getting proper dynamics coefficients for the selected flight conditions. With the aircraft aerodynamics coefficients, the aircraft dynamics characteristics and flying qualities are also analyzed. The model studied in this thesis cannot answer level one flying qualities in the longitudinal axis, which is required by MIL-F- 8785C. The stability augment system is designed to improve the flying qualities of the longitudinal axis. The work for autopilot design in this thesis includes five parts. First, the whole flight profile is designed to automatically control aircraft from takeoff to landing. Second, takeoff performance and guidance law is studied. Then, landing performance and trajectory is also investigated. After that, the control law design is decoupled into longitudinal axis and later-directional axis. Finally, simulation is executed to check the performance for the auto-controller.

Thèse numérisée par la Division de la gestion de documents et des archives de l'Université de Montréal.

Thèse numérisée par la Division de la gestion de documents et des archives de l'Université de Montréal