Past research has shown that natural ventilation can be used to satisfy upwards of 98% of the yearly cooling demand when utilized in the appropriate climate zone. Yet widespread implementation of natural ventilation has been limited in practice. This delay in market adoption is mainly due to lack of effective and reliable control. Historically, control of natural ventilation was left to the occupant (i.e. they are responsible for opening and closing their windows) because occupants are more readily satisfied when given control of the indoor environment. This strategy has been shown to be effective during summer months, but can lead to both over and under ventilation, as well as the associated unnecessary energy waste during the winter months. This research presents the development and evaluation of a model-based control algorithm for natural ventilation. The proposed controller is designed to modulate the operable windows based on ambient temperature, wind speed, wind direction, solar radiation, indoor temperature and other building characteristics to ensure adequate ventilation and thermal comfort throughout the year without the use of mechanical ventilation and cooling systems. A midrise student dormitory building, located in Portland OR, has been used to demonstrate the performance of the proposed controller. Simulation results show that the model-based controller is able to reduce under-ventilated hours to 6.2% of the summer season (June - September) and 2.5% of the winter (October - May) while preventing over-heating during 99% of the year. In addition, the model-based-controller reduces the yearly energy cost by 33% when compared to a conventional heat pump system. As a proactive control, model-based control has been used in a wide range of building control applications. This research serves as proof-of-concept that it can be used to control operable windows to provide adequate ventilation year-round without significantly affecting thermal comfort. The resulting control algorithm significantly improves the reliability of natural ventilation design and could lead to a wider adoption of natural ventilation in appropriate climate zones.

Cette thèse vise à améliorer le positionnement statique et la précision de suivi de trajectoire des Robots Parallèles à Câbles (RPC) tout en prenant en compte leur élasticité globale. A cet effet, deux stratégies de commandes complémentaires valables pour toute configuration de RPC sont proposées.Tout d'abord, une analyse de robustesse est réalisée pour aboutir à une commande robuste des RPC référencée modèle. Un modèle de RPC approprié est défini en fonction de l'application visée et les principales sources d'erreurs de pose de la plate-forme mobile sont identifiées.Une première méthode de commande est proposée sur la base des résultats de l'analyse de robustesse. Cette première méthode réside dans le couplage d'une commande référencée modèle d’un contrôleur PID.Dans le cadre de cette thèse, un modèle élasto-dynamique de RPC est exprimé afin de compenser le comportement oscillatoire de sa plate-forme mobile dû à l'élongation des câbles et de son comportement dynamique.La deuxième méthode de commande utilise des filtres "input-shaping" dans la commande référencée modèle proposée afin d'annuler les mouvements oscillatoires de la plate-forme mobile. Ainsi, le signal d'entrée est modifié pour que le RPC annule automatiquement les vibrations résiduelles. Les résultats théoriques obtenus sont validés expérimentalement à l'aide d'un prototype de RPC non redondant en actionnement et en configuration suspendue. Les résultats expérimentaux montrent la pertinence des stratégies de commande proposées en termes d'amélioration de la précision de suivi de trajectoire et de réduction des vibrations. / This thesis aims at improving the static positioning and trajectory tracking accuracy of Cable- Driven Parallel Robots (CDPRs) while considering their overall elasticity. Accordingly, two complementary control strategies that are valid for any CDPR configuration are proposed.First, a robustness analysis is performed to lead to a robust model-based control of CDPRs. As a result, an appropriate CDPR model is defined as a function of the targeted application and the main sources of CDPR moving-platforms pose errors are identified.A first control method is determined based on the results of the robustness analysis. This first method lies in the coupling of a model-based feed-forward control scheme for CDPR with a PID feedback controller.Here, an elasto-dynamic model of the CDPR is expressed to compensate the oscillatory motions of its moving-platform due to cable elongations and its dynamic behavior.The second control method uses input-shaping filters into the proposed model-based feed-forward control in order to cancel the oscillatory motions the movingplatform. Thus, the input signal is modified for the CDPR to self-cancel residual vibrations.Experimental validations are performed while using suspended and non-redundant CDPR prototype. The proposed feed-forward model-based control schemes are implemented, and their effectiveness is discussed.Results show the relevance of the proposed control strategies in terms of trajectory tracking accuracy improvement and vibration reduction.

A neutralizacao de pH e utilizada nas industrias, para garantir o descarte seguro de euentes. As plantas de neutralizacao de pH sao um problema complexo de controle, visto que a planta segue um modelo nao-linear e apresenta caractersticas variantes no tempo, o que demanda sua correta modelagem para o projeto de sistemas de controle ecientes. No entanto, a teoria referente a modelagem de pH nao e facilmente aplicada na pratica, resultando frequentemente em modelos que nao predizem corretamente o comportamento dinamico da planta. O primeiro objetivo deste trabalho foi modelar matematicamente a Planta Piloto de Neutralizacao de pH do Laboratorio de Controle de Processos Industriais (LCPI), utilizando uma metodologia que possa ser aplicada para obter o modelo matematico de outras plantas de neutralizacao de pH. Inicialmente a Planta Piloto de Neutralizacao de pH do LCPI foi modelada de acordo com a abordagem fenomenologica, utilizando-se os princpios de conservacao de massa, da eletroneutralidade e os conceitos de equilbrio qumico. Em seguida, o modelo foi ajustado aos dados experimentais do processo (abordagem emprica), utilizando-se curvas de titulacao dos inuentes e distribuicoes de tempos de residencia do reator. Atraves de experimentos, vericou-se que o modelo representou, de forma satisfatoria, a dinamica real da Planta Piloto de Neutralizacao de pH do LCPI. Ademais, este modelo foi utilizado para alcancar o segundo objetivo deste trabalho: projetar um sistema de controle de pH, o qual foi composto por um observador nao-linear e um controlador baseado em modelo. Esta estrutura de controle foi testada experimentalmente, onde certicou-se que os requisitos de controle foram satisfeitos. / The pH neutralization is used in industry to discard properly the wastewater, ensuring the environment preservation. The pH neutralization is a complex control problem, as the model of the plant presents a strong nonlinearity and time varying characteristics, which demands a proper modeling in order to design ecient control systems. However, the application of the theory related to pH modeling is not a trivial task and may result in models that can not predict the plant dynamics. The rst objective of this research was to model the pH Neutralization Pilot Plant, of the Laboratory of Industrial Processes Control (LCPI), using a methodology that could be replicated to model other pH neutralization plants. Initially, the pH Neutralization Pilot Plant was modeled with the phenomenological approach, utilizing rst principles, such as the mass conservation, electroneutrality and chemical equilibrium. Moreover, the model was adjusted to represent the process observed data (empirical approach), as its titration curves of the inuent streams and its reactor residence time distribution. Through experiments, it was veried that the model could represent adequately the real process dynamics. Furthermore, this model was used to achieve the second objective of this research: to design a pH control system, which was composed of a nonlinear observer and a modelbased control. This control structure was tested experimentally, ensuring that the control requirements were satised.

A neutralizacao de pH e utilizada nas industrias, para garantir o descarte seguro de euentes. As plantas de neutralizacao de pH sao um problema complexo de controle, visto que a planta segue um modelo nao-linear e apresenta caractersticas variantes no tempo, o que demanda sua correta modelagem para o projeto de sistemas de controle ecientes. No entanto, a teoria referente a modelagem de pH nao e facilmente aplicada na pratica, resultando frequentemente em modelos que nao predizem corretamente o comportamento dinamico da planta. O primeiro objetivo deste trabalho foi modelar matematicamente a Planta Piloto de Neutralizacao de pH do Laboratorio de Controle de Processos Industriais (LCPI), utilizando uma metodologia que possa ser aplicada para obter o modelo matematico de outras plantas de neutralizacao de pH. Inicialmente a Planta Piloto de Neutralizacao de pH do LCPI foi modelada de acordo com a abordagem fenomenologica, utilizando-se os princpios de conservacao de massa, da eletroneutralidade e os conceitos de equilbrio qumico. Em seguida, o modelo foi ajustado aos dados experimentais do processo (abordagem emprica), utilizando-se curvas de titulacao dos inuentes e distribuicoes de tempos de residencia do reator. Atraves de experimentos, vericou-se que o modelo representou, de forma satisfatoria, a dinamica real da Planta Piloto de Neutralizacao de pH do LCPI. Ademais, este modelo foi utilizado para alcancar o segundo objetivo deste trabalho: projetar um sistema de controle de pH, o qual foi composto por um observador nao-linear e um controlador baseado em modelo. Esta estrutura de controle foi testada experimentalmente, onde certicou-se que os requisitos de controle foram satisfeitos. / The pH neutralization is used in industry to discard properly the wastewater, ensuring the environment preservation. The pH neutralization is a complex control problem, as the model of the plant presents a strong nonlinearity and time varying characteristics, which demands a proper modeling in order to design ecient control systems. However, the application of the theory related to pH modeling is not a trivial task and may result in models that can not predict the plant dynamics. The rst objective of this research was to model the pH Neutralization Pilot Plant, of the Laboratory of Industrial Processes Control (LCPI), using a methodology that could be replicated to model other pH neutralization plants. Initially, the pH Neutralization Pilot Plant was modeled with the phenomenological approach, utilizing rst principles, such as the mass conservation, electroneutrality and chemical equilibrium. Moreover, the model was adjusted to represent the process observed data (empirical approach), as its titration curves of the inuent streams and its reactor residence time distribution. Through experiments, it was veried that the model could represent adequately the real process dynamics. Furthermore, this model was used to achieve the second objective of this research: to design a pH control system, which was composed of a nonlinear observer and a modelbased control. This control structure was tested experimentally, ensuring that the control requirements were satised.

This paper aims to show that controlled hydraulic drives, when properly considered and approached, are a technology that allows for a systematic and safe system design with regard to performance and energy efficiency. Controlled hydraulic drives are predestinated to be an indispensable alternative to electromechanical drives for many fields of application, especially against the background of Industry 4.0. But hydraulic drives will only be able to play this role if they see themselves as a part of mechatronics, speak the language of mechatronics and recognize the increasing importance of electric drives as part of the hydraulic toolbox as a chance.

Transition delay in boundary-layer flows is achieved via reactive control of flow instabilities, i.e. Tollmien-Schlichting (TS) waves. Adaptive and model-based control techniques are investigated by means of direct numerical simulations (DNS) and experiments. The action of actuators localised in the wall region is prescribed based on localised measurement of the disturbance field; in particular, plasma actuators and surface hot-wire sensors are considered. Performances and limitations of this control approach are evaluated both for two-dimensional (2D) and three-dimensional (3D) disturbance scenarios. The focus is on the robustness properties of the investigated control techniques; it is highlighted that static model-based control, such as the linear-quadratic- Gaussian (LQG) regulator, is very sensitive to model-inaccuracies. The reason for this behaviour is found in the feed-forward nature of the adopted sensor/actuator scheme; hence, a second, downstream sensor is introduced and actively used to recover robustness via an adaptive filtered-x least-mean-squares (fxLMS) algorithm. Furthermore, the model of the flow required by the control algorithm is reduced to a time delay. This technique, called delayed-x least-mean-squares (dxLMS) algorithm, allows taking a step towards a self-tuning controller; by introducing a third sensor it is possible to compute on-line the suitable time-delay model with no previous knowledge of the controlled system. This self-tuning approach is successfully tested by in-flight experiments on a motor-glider. Lastly, the transition delay capabilities of the investigated control con- figuration are confirmed in a complex disturbance environment. The flow is perturbed with random localised disturbances inside the boundary layer and the laminar-to-turbulence transition is delayed via a multi-input-multi-output (MIMO) version of the fxLMS algorithm. A positive theoretical net-energy- saving is observed for disturbance amplitudes up to 2% of the free-stream velocity at the actuation location, reaching values around 1000 times the input power for the lower disturbance amplitudes that have been investigated. / I den här avhandlingen har reglertekniska metoder tillämpats för att försena omslaget från ett laminärt till ett turbulent gränsskikt genom att dämpa tillväxten av små instabiliteter, så kallade Tollmien-Schlichting vågor. Adaptiva och modellbaserade metoder för reglering av strömning har undersökts med hjälp av numeriska beräkningar av Navier-Stokes ekvationer, vindtunnelexperiment och även genom direkt tillämpning på flygplan. Plasmaaktuatorer och varmtrådsgivare vidhäftade på ytan av plattan eller vingen har använts i experimenten och modellerats i beräkningarna. Prestanda och begränsningar av den valda kontrollstrategin har utvärderats för både tvådimensionella och tredimensionella gränsskiktsinstabiliteter. Fokus har varit på metodernas robusthet, där vi visar att statiska metoder som linjär-kvadratiska regulatorer (LQG) är mycket känsliga för avvikelser från den nominella modellen. Detta beror främst på att regulatorer agerar i förkompenseringsläge (”feed-foward”) på grund av strömningens karaktär och placeringen av givare och aktuatorer. För att minska känsligheten mot avvikelser och därmed öka robustheten har en givare införts nedströms och en adaptiv fXLMS algoritm (filtered-x least-mean-squares) har tillämpats.                  Vidare har modelleringen av fXLMS-algoritmen förenklats genom att ersätta överföringsfunktionen mellan aktuatorer och givare med en lämplig tidsfördröjning.  Denna  metod som kallas för dxLMS (delayed-x least-mean-squares) kräver att ytterligare en givare införs långt uppströms för att kunna uppskatta hastigheten på de propagerande instabilitetsvågorna. Denna teknik har tillämpats framgångsrikt för reglering av gränsskiktet på vingen av ett segelflygplan. Slutligen har de reglertekniska metoderna testas för komplexa slumpmässiga tredimensionella störningar som genererats uppströms lokalt i gränsskiktet. Vi visar att en signifikant försening av laminärt-turbulentomslag äger rum med hjälp av en fXLMS algoritm. En analys av energibudgeten visar att för ideala aktuatorer och givare kan den sparade energiåtgången på grund av minskad väggfriktion vara upp till 1000 gånger större än den energi som använts för reglering.

<div>Stoichiometric air-fuel ratio (AFR) and air/EGR flow control are essential control problems in today’s advanced spark-ignited (SI) engines to enable effective application of the three-way-catalyst (TWC) and generation of required torque. External exhaust gas recirculation (EGR) can be used in SI engines to help mitigate knock, reduce enrichment and improve efficiency[1 ]. However, the introduction of the EGR system increases the complexity of stoichiometric engine-out lambda and torque management, particularly for high BMEP commercial vehicle applications. This thesis develops advanced frameworks for sensing and control architecture designs to enable robust air handling system management, stoichiometric cylinder air-fuel ratio (AFR) control and three-way-catalyst emission control.</div><div><br></div><div><div>The first work in this thesis derives a physically-based, control-oriented model for turbocharged SI engines utilizing cooled EGR and flexible VVA systems. The model includes the impacts of modulation to any combination of 11 actuators, including the throttle valve, bypass valve, fuel injection rate, waste-gate, high-pressure (HP) EGR, low-pressure (LP) EGR, number of firing cylinders, intake and exhaust valve opening and closing timings. A new cylinder-out gas composition estimation method, based on the inputs’ information of cylinder charge flow, injected fuel amount, residual gas mass and intake gas compositions, is proposed in this model. This method can be implemented in the control-oriented model as a critical input for estimating the exhaust manifold gas compositions. A new flow-based turbine-out pressure modeling strategy is also proposed in this thesis as a necessary input to estimate the LP EGR flow rate. Incorporated with these two sub-models, the control-oriented model is capable to capture the dynamics of pressure, temperature and gas compositions in manifolds and the cylinder. Thirteen physical parameters, including intake, boost and exhaust manifolds’ pressures, temperatures, unburnt and burnt mass fractions as well as the turbocharger speed, are defined as state variables. The outputs such as flow rates and AFR are modeled as functions of selected states and inputs. The control-oriented model is validated with a high fidelity SI engine GT-Power model for different operating conditions. The novelty in this physical modeling work includes the development and incorporation of the cylinder-out gas composition estimation method and the turbine-out pressure model in the control-oriented model.</div></div><div><br></div><div><div>The second part of the work outlines a novel sensor selection and observer design algorithm for linear time-invariant systems with both process and measurement noise based on <i>H</i>2 optimization to optimize the tradeoff between the observer error and the number of required sensors. The optimization problem is relaxed to a sequence of convex optimization problems that minimize the cost function consisting of the <i>H</i>2 norm of the observer error and the weighted <i>l</i>1 norm of the observer gain. An LMI formulation allows for efficient solution via semi-definite programing. The approach is applied here, for the first time, to a turbo-charged spark-ignited (SI) engine using exhaust gas recirculation to determine the optimal sensor sets for real-time intake manifold burnt gas mass fraction estimation. Simulation with the candidate estimator embedded in a high fidelity engine GT-Power model demonstrates that the optimal sensor sets selected using this algorithm have the best <i>H</i>2 estimation performance. Sensor redundancy is also analyzed based on the algorithm results. This algorithm is applicable for any type of modern internal combustion engines to reduce system design time and experimental efforts typically required for selecting optimal sensor sets.</div></div><div><br></div><div><div>The third study develops a model-based sensor selection and controller design framework for robust control of air-fuel-ratio (AFR), air flow and EGR flow for turbocharged stoichiometric engines using low pressure EGR, waste-gate turbo-charging, intake throttling and variable valve timing. Model uncertainties, disturbances, transport delays, sensor and actuator characteristics are considered in this framework. Based on the required control performance and candidate sensor sets, the framework synthesizes an H1 feedback controller and evaluates the viability of the candidate sensor set through analysis of the structured</div><div>singular value μ of the closed-loop system in the frequency domain. The framework can also be used to understand if relaxing the controller performance requirements enables the use of a simpler (less costly) sensor set. The sensor selection and controller co-design approach is applied here, for the first time, to turbo-charged engines using exhaust gas circulation. High fidelity GT-Power simulations are used to validate the approach. The novelty of the work in this part can be summarized as follows: (1) A novel control strategy is proposed for the stoichiometric SI engines using low pressure EGR to simultaneously satisfy both the AFR and air/EGR-path control performance requirements; (2) A parametrical method to simultaneously select the sensors and design the controller is first proposed for the internal combustion engines.</div></div><div><br></div><div><div>In the fourth part of the work, a novel two-loop estimation and control strategy is proposed to reduce the emission of the three-way-catalyst (TWC). In the outer loop, an FOS estimator consisting of a TWC model and an extended Kalman-filter is used to estimate the current TWC fractional oxygen state (FOS) and a robust controller is used to control the TWC FOS by manipulating the desired engine λ. The outer loop estimator and controller are combined with an existing inner loop controller. The inner loop controller controls the engine λ based on the desired λ value and the control inaccuracies are considered and compensated by the outer loop robust controller. This control strategy achieves good emission reduction performance and has advantages over the constant λ control strategy and the conventional two-loop switch-type control strategy.</div></div>

[ES] La necesidad de mejorar el consumo de combustible y las emisiones de los sistemas propulsivos de automoción en condiciones reales de conducción es la base de esta tesis. Para ello, se exploran dos ejes: En primer lugar, el control de los sistemas de propulsión. El estado del arte de control en los sistemas propulsivos de automoción se basa en gran medida en el uso de técnicas de optimización que buscan las leyes de control que minimizan una función de coste en un conjunto de condiciones de operación denidas a priori. Estas leyes se almacenan en las ECUs de producción en forma de mapas de calibración de los diferentes actuadores del motor. Las incertidumbres asociadas al conjunto limitado de condiciones en el proceso de calibración dan lugar a un funcionamiento subóptimo del sistema de propulsión en condiciones de conducción real. Por lo tanto, en este trabajo se proponen métodos de control adaptativo que optimicen la gestión de la planta propulsiva a las condiciones esperadas de funcionamiento para un usuario y un caso determinado en lugar de a un conjunto genérico de condiciones. El segundo eje se reere a optimizar, en lugar de los parámetros de control del sistema propulsivo, la demanda de potencia de este, introduciendo al propio conductor en el bucle de control, sugiriéndole las acciones a tomar. En particular, este segundo eje se reere al control de la velocidad del vehículo (conocido popularmente como Eco-Driving en la literatura) en condiciones reales de conducción. Se proponen sistemas de aviso en tiempo real al conductor acerca de la velocidad óptima para minimizar el consumo del vehículo. Los métodos de control desarrollados para cada aplicación se describen en detalle en la tesis y se muestran ensayos experimentales de validación en los casos de estudio diseñados. Ambos ejes representan un problema de control óptimo, denido por un sistema dinámico, unas restricciones a cumplir y un coste a minimizar, en este sentido las herramientas desarrolladas en la tesis son comunes a los dos ejes: Un modelo de vehículo, una herramienta de predicción del ciclo de conducción y métodos de control óptimo (Programación Dinámica, Principio Mínimo de Pontryagin y Estrategia de Consumo Equivalente Mínimo). Dependiendo de la aplicación, los métodos desarrollados se implementaron en varios entornos experimentales: un motor térmico en sala de ensayos simulando el resto del vehículo, incluyendo el resto del sistema de propulsión híbrido y en un vehículo real. Los resultados muestran mejoras signicativas en el rendimiento del sistema de propulsión en términos de ahorro de combustible y emisiones en comparación con los métodos empleados en el estado del arte actual. / [CA] La necessitat de millorar el consum de combustible i les emissions dels sistemes propulsius d'automoció en condicions reals de conducció és la base d'aquesta tesi. Per a això, s'exploren dos eixos: En primer lloc, el control dels sistemes de propulsió. L'estat de l'art de control en els sistemes propulsius d'automoció es basa en gran manera en l'ús de tècniques d'optimització que busquen les lleis de control que minimitzen una funció de cost en un conjunt de condicions d'operació denides a priori. Aquestes lleis s'emmagatzemen en les Ecus de producció en forma de mapes de calibratge dels diferents actuadors del motor. Les incerteses associades al conjunt limitat de condicions en el procés de calibratge donen lloc a un funcionament subòptim del sistema de propulsió en condicions de conducció real. Per tant, en aquest treball es proposen mètodes de control adaptatiu que optimitzen la gestió de la planta propulsiva a les condicions esperades de funcionament per a un usuari i un cas determinat en lloc d'un conjunt genèric de condicions. El segon eix es refereix a optimitzar, en lloc dels paràmetres de control del sistema propulsiu, la demanda de potència d'aquest, introduint al propi conductor en el bucle de control, suggerint-li les accions a prendre. En particular, aquest segon eix es refereix al control de la velocitat del vehicle (conegut popularment com Eco-*Driving en la literatura) en condicions reals de conducció. Es proposen sistemes d'avís en temps real al conductor sobre la velocitat òptima per a minimitzar el consum del vehicle. Els mètodes de control desenvolupats per a cada aplicació es descriuen detalladament en la tesi i es mostren assajos experimentals de validació en els casos d'estudi dissenyats. Tots dos eixos representen un problema de control òptim, denit per un sistema dinàmic, unes restriccions a complir i un cost a minimitzar, en aquest sentit les eines desenvolupades en la tesi són comunes als dos eixos: Un model de vehicle, una eina de predicció del cicle de conducció i mètodes de control òptim (Programació Dinàmica, Principi Mínim de *Pontryagin i Estratègia de Consum Equivalent Mínim). Depenent de l'aplicació, els mètodes desenvolupats es van implementar en diversos entorns experimentals: un motor tèrmic en sala d'assajos simulant la resta del vehicle, incloent la resta del sistema de propulsió híbrid i en un vehicle real. Els resultats mostren millores signicatives en el rendiment del sistema de propulsió en termes d'estalvi de combustible i emissions en comparació amb els mètodes emprats en l'estat de l'art actual. / [EN] The need of improving the real-world fuel consumption and emission of automotive applications is the basis of this thesis. To this end, two verticals are explored: First is the online control of the powertrain systems. In state-of-the-art Optimal Control techniques (such as Dyanmic Programming, Pontryagins Minimum Principle, etc...) are extensively used to formulate the optimal control laws. These laws are stored in the production ECUs in the form of feedforward calibration maps. The unaccounted uncertainities related to the real-world during the powertrain calibration result in suboptimal operations of the powertrain in actual driving. Therefore, adaptive control methods are proposed in this work which, optimise the energy management of the conventional and the HEV powertrain control on real driving mission. The second vertical is regarding the vehicle speed control (popularly known as Eco-Driving in the literature) methods in real driving condition. In particular, speed advisory systems are proposed for real time application on a vehicle. The control methods developed for each application are described in details with their verication and validation on the designed case studies. Apart from the developed control methods, there are three tools that were developed and used at various stages of this thesis: A vehicle model, A driving cycle prediction tool and optimal control methods (dynamic programming, PMP and ECMS). Depending on the application, the developed methods were implemented on the Hardware-In-Loop Internal Combustion Engine testing setup or on a real vehicle. The results show signicant improvements in the performance of the powertrain in terms of fuel economy and emissions in comparison to the state-of-the-art methods. / Pandey, V. (2021). Online Control of Automotive systems for improved Real-World Performance [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/173716

Tesis por compendio / [ES] La era actual se caracteriza por una creciente población envejecida debido al aumento de la esperanza de vida y a una tasa de natalidad en declive. Este cambio demográfico conlleva un aumento de las discapacidades, lo que enfatiza la importancia del envejecimiento saludable y la capacidad funcional. En respuesta a estos desafíos, se están explorando metodologías de asistencia innovadoras, particularmente en la integración de la interacción física humano-robot. Los Robots Paralelos (PRs) son cadenas cinemáticas cerradas que exhiben ventajas para la rehabilitación de extremidades humanas, gracias a su rigidez, precisión y robustez. Sin embargo, su modelado complejo y la presencia de singularidades dentro del espacio de trabajo plantean un desafío para garantizar una interacción segura y efectiva. Este documento propone una colección de nuevos algoritmos de control utilizando un PR que cubren un amplio espectro de aplicaciones dentro del contexto de la robótica asistencial, que van desde el entrenamiento pasivo (en el que el usuario no genera los movimientos, por lo que se induce un esfuerzo mínimo o nulo) hasta ejercicios activos (que requieren contracciones musculares voluntarias del paciente) y aumento de potencia. El primer algoritmo aborda el desafío del seguimiento de trayectorias con un controlador basado en modelos con intercambio de fuerzas entre el humano y el robot en ausencia de un sensor de fuerza. Al incluir un mecanismo para estimar esta fuerza de interacción en línea utilizando Mínimos Cuadrados (LS) dentro del modelo, se proporciona información valiosa para terapeutas u otros algoritmos, y reduce continuamente los errores de seguimiento corrigiendo el modelo dinámico en línea. En situaciones de entrenamiento activo, los controladores basados en fuerza son esenciales para responder a las interacciones. La tesis incorpora un control de admitancia con un sensor de fuerza. A pesar de los beneficios de esta interacción, existen riesgos asociados con la modificación de las trayectorias del robot por parte del humano, debido a la presencia de singularidades dentro del espacio de trabajo que se deben evitar para garantizar la seguridad del paciente. Se utilizan las Primitivas de Movimiento Dinámico (DMP) para codificar la trayectoria inicial, que puede modificarse con términos de acoplamiento para lograr ambos objetivos de control de admitancia y evasión de singularidades simultáneamente. En las primeras etapas de la rehabilitación, los pacientes pueden carecer de habilidades motoras debido a una lesión, por lo que se deben emplear ejercicios pasivos. Esta investigación propone un mecanismo inteligente para ejercicios pasivos que permite a los usuarios regresar a posiciones seguras previas y reanudar el ejercicio de manera autónoma. La inversión de trayectoria se logra con las Primitivas de Movimiento Dinámico Reversibles (RDMP). El enfoque implica codificar el comportamiento esperado utilizando datos de la extremidad sana análoga y revertir la trayectoria cuando el miembro lesionado se desvía de los patrones, bajo el paradigma de Aprendizaje por Imitación. Por último, los modelos musculoesqueléticos desempeñan un papel crucial en la estimación de las fuerzas musculares del usuario, siendo de gran utilidad integrados en controladores en el espacio muscular. Estos controladores pueden aplicarse tanto en contextos de aumento de potencia como de rehabilitación. En el aumento de potencia, el concepto de manipulabilidad describe la capacidad del humano para ejercer fuerzas en cualquier dirección. Lograr una manipulabilidad isotrópica es deseable para mantener una activación muscular constante, y este estudio investiga su representación mediante un concepto novedoso llamado envolvente de fuerza. Además, esta investigación explora el uso de controladores musculares en entornos de asistencia o rehabilitación, mediante un controlador en bucle cerrado diseñado para inducir fuerzas de tensión específicas en los músculos. / [CA] L'era actual es caracteritza per una creixent població envellida a causa de l'augment de l'esperança de vida i una taxa de natalitat en declivi. Aquest canvi demogràfic comporta un augment de les discapacitats, la qual cosa destaca la importància de l'envelliment saludable i la capacitat funcional. En resposta a aquests reptes, s'estan explorant metodologies d'assistència innovadores, particularment en la integració de la interacció física humà-robot. Els Robots Paral·lels (PRs) són cadenes cinemàtiques tancades que exhibeixen avantatges per a la rehabilitació d'extremitats humanes, gràcies a la seua rigidesa, precisió i robustesa. No obstant això, el seu modelatge complex i la presència de singularitats dins de l'espai de treball planteja un desafiament per a garantir una interacció segura i efectiva. Aquest document proposa una col·lecció de nous algoritmes de control utilitzant un PR que cobreixen un ampli espectre d'aplicacions dins del context de la robòtica assistencial, que van des de l'entrenament passiu (en el qual l'usuari no genera els moviments, per la qual cosa s'indueix un esforç mínim o nul) fins a exercicis actius (que requereixen contraccions musculars voluntàries del pacient) i augment de potència. El primer algoritme aborda el desafiament del seguiment de trajectòries amb un controlador basat en models amb intercanvi de forces entre l'ésser humà i el robot en absència d'un sensor de força. En incloure un mecanisme per estimar aquesta força d'interacció en línia utilitzant Mínims Quadrats (LS) dins del model, es proporciona informació valuosa per a terapeutes o altres algoritmes, i redueix contínuament els errors de seguiment corregint el model dinàmic en línia. En situacions d'entrenament actiu, els controladors basats en força són essencials per respondre adequadament a les interaccions. La tesi incorpora un control d'admitància amb un sensor de força. Malgrat els beneficis d'aquesta interacció, existeixen riscos associats amb la modificació de les trajectòries del robot per part de l'ésser humà, degut a la presència de singularitats dins de l'espai de treball que s'han de evitar per garantir la seguretat del pacient. Les Primitives de Moviment Dinàmic (DMP) s'utilitzen per a codificar la trajectòria inicial, que es pot modificar amb termes d'acoblament per aconseguir ambdós objectius de control d'admitància i evitar les singularitats simultàniament. En les primeres etapes de la rehabilitació, els pacients poden mancar d'habilitats motrius a causa d'una lesió, per la qual cosa s'han d'emplear exercicis passius. Aquesta investigació proposa un mecanisme intel·ligent per a exercicis passius que permet als usuaris tornar a posicions segures prèvies i reprendre l'exercici de manera autònoma. La inversió de trajectòria s'aconsegueix amb les Primitives de Moviment Dinàmic Reversibles (RDMP). L'enfocament implica codificar el comportament esperat utilitzant dades de l'extremitat sana anàloga i revertir la trajectòria quan el membre lesionat es desvia dels patrons, sota el paradigma d'Aprenentatge per Imitació. Finalment, els models musculoesquelètics juguen un paper crucial en l'estimació de les forces musculars de l'usuari, sent de gran utilitat integrats en controladors en l'espai muscular. Aquests controladors es poden aplicar tant en contextos d'augment de potència com de rehabilitació. En l'augment de potència, el concepte de manipulabilitat descriu la capacitat de l'ésser humà per exercir forces en qualsevol direcció. Aconseguir una manipulabilitat isotròpica és desitjable per mantenir una activació muscular constant, i aquest estudi investiga la seua representación mitjançant un concepte innovador anomenat envolvent de força. A més, aquesta investigació explora l'ús de controladors musculars en entorns d'assistència o rehabilitació, mitjançant un controlador en bucle tancat dissenyat per induir forces de tensió específiques en els músculs. / [EN] The current era is characterized by a growing elderly population due to increased life expectancy and a declining birth rate. This demographic shift leads to a rise in disabilities, emphasizing the importance of healthy aging and functional ability. In response to these challenges, innovative assistive methodologies are being explored, particularly in the integration into physical human-robot interaction. Parallel Robots (PRs) are closed kinematic chains that exhibit unique advantages for human limb rehabilitation, thanks to their stiffness, accuracy, and robustness. However, their complex modeling and the presence of singularities within the workspace pose a challenge to ensure safe and effective interaction. This document proposes a collection of novel control algorithms using a PR to cover a wide spectrum of applications within the context of assistive robotics, ranging from passive training (in which the user does not generate the movements, so minimal to no effort is induced) to active exercises (requiring the patient's voluntary muscle contractions) and power augmentation. The first algorithm addresses the challenge of trajectory tracking with a model-based controller with force exchange between the human and the robot in the absence of a force sensor. By including a mechanism to estimate this interaction force online using Least Squares (LS) within the model, the algorithm provides valuable insight for therapists or other algorithms and continuously reduces tracking errors by correcting the dynamic model online. In active training scenarios, force-based controllers are essential to respond appropriately to interactions. The thesis incorporates an admittance controller with a force sensor. Despite the benefits of this interaction, there are risks associated with human modification of robot trajectories due to the presence of singularities within the workspace that must be avoided to ensure the patient's safety. Dynamic Movement Primitives (DMP) are employed to encode the initial trajectory, which can be modified with coupling terms to achieve both objectives of admittance control and singularity avoidance simultaneously. In the early stages of rehabilitation, patients may lack full motor skills due to the injury, so passive exercises should be employed. This research proposes an intelligent mechanism for passive exercises that allows users to return to previous safe positions and resume the exercise in a self-paced manner. The trajectory reversal is achieved with Reversible Dynamic Movement Primitives (RDMP). The approach involves encoding the expected behavior using data from the analogous healthy limb and reversing the trajectory when the injured limb deviates from the established statistical patterns. This approach aligns with the paradigm of Imitation Learning. Finally, musculoskeletal models play a crucial role in estimating the user's muscle forces, offering significant utility when integrated in controllers operating in muscular space. These controllers can be applied in both power augmentation and rehabilitation contexts. In power augmentation, the concept of manipulability describes the human's ability to exert forces in any direction. Achieving isotropic manipulability is desirable to maintain constant muscular activation, and this study investigates its representation with a novel concept called a force envelope. Furthermore, this research explores the use of muscle-targeted controllers in assistance or rehabilitation settings, by means of a closed-loop controller designed to induce specific tension forces in muscles. / This research was funded in part by Fondo Europeo de Desarrollo Regional (PID2021-125694OB-I00), and in part by Vicerrectorado de Investigación de la Universitat Politècnica de València (PAID-11-21). The author received a scholarship from Ministerio de Universidades, Gobierno de España, under grant Ayudas para la Formación de Profesorado Universitario (FPU18/05105). The author’s research stay at Jožef Stefan Institute was funded partly by Vicer- rectorado de Investigación de la Universitat Politècnica de València (PAID-11- 21), and partly by Erasmus+ Student Mobility for Traineeship 2020. / Escarabajal Sánchez, RJ. (2024). Design and Implementation of Model-Based and Learning Control for Rehabilitation Parallel Robots: Advancements and Performance Evaluation [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/214345 / Compendio