Este trabalho apresenta o controle de posição e orientação de um modelo não linear de Plataforma de Stewart com seis graus de liberdade construído no ambiente de sistemas multicorpos ADAMS® desenvolvido pela Mechanical Dynamics, Inc. O modelo não linear é exportado para o ambiente SIMULINK® desenvolvido pela MathWorks, Inc., onde o controle de posição e orientação é realizado a partir da linearização do modelo e a aplicação de um sistema seguidor com realimentação de estados. Utililiza-se, também o SIMULINK® para implementar a dinâmica de um sistema servoválvula e cilindro hidráulico com um servocontrole de pressão e assim simular o comportamento dinâmico de um simulador de vôo com acionamento hidráulico. A utilização destes pacotes comerciais visa obter uma economia de tempo e esforço na modelagem de sistemas mecânicos complexos e na programação para obtenção da resposta do sistema no tempo, além de facilitar a análise de várias configurações de Plataformas de Stewart / This work shows the position and orientation control of a non-linear model of a Stewart platform with six degree of freedom developed in the multibody systems environment ADAMS® (Mechanical Dynamics, Inc.). The non-linear model is exported to SIMULINK® (MathWorks, Inc.), where the position and orientation control is accomplished using the linear model and applied as a tracking-system with state-feedback. The SIMULINK® is also used to implement the dinamics of the servovalve and hydraulic cylinder with pressure-control servo and so simulate the dynamic behavior of the flight simulator with hydraulic drive. These commercial packages are used seeking to save time and effort in the modeling of complex mechanical systems and in the programming to get the time response of the system, facilitating the analysis of several Stewart Platforms configurations.

Orientador: Prof. Dr. Magno Enrique Mendoza Meza / Coorientadora: Profª. Drª. Silvia Lenyra Meirelles Campos Titotto / Dissertação (mestrado) - Universidade Federal do ABC, Programa de Pós-Graduação em Engenharia Mecânica, Santo André, 2018.

O objetivo precípuo desta investigação foi potencializar ações em educação ambiental e efetuar uma análise multivariada da percepção ambiental de diferentes grupos sociais como instrumentos de apoio à gestão de pequenas bacias. Este trabalho foi norteado por pesquisa-ação, baseado em pesquisas qualitativa, quantitativa e estudo de caso da microbacia do córrego da Capituva, Macedônia, SP. As metodologias foram divididas nas fases: exploratória ― escolha e caracterização da área de estudo e público alvo, histórico da ocupação e dinâmica do desenvolvimento do município; estudo preliminar e de diagnóstico ― caracterização da estrutura fundiária e dos usuários da terra, sistema de produção agrícola, caracterização da qualidade ambiental e análise multivariada de dados e; ações em educação ambiental. Optar pela participação de produtores rurais na pesquisa, teve o propósito de identificar problemas concretos, definir prioridades, escolher soluções viáveis em função das condições sócio-econômicas e do saber popular existente. Envolver professores, alunos e profissionais do município em ações de educação ambiental, teve por objetivo verificar a percepção da comunidade e despertar seu interesse e participação em projetos de proteção e recuperação de recursos naturais. A investigação mostrou que a população identifica os principais problemas ambientais, mas necessita informações de saneamento básico e técnicas para alterações no processo produtivo para possíveis soluções preventivas e corretivas. Esses produtores rurais, segmentos sociais diretamente onerados pelo ato de gestão ambiental, não têm condições para intervir em processo decisório. Os processos de gestão são complexos, por envolverem profundos conflitos entre os diversos usuários das bacias e por não estarem em consonância com a realidade econômica da maioria desses produtores. Os proprietários rurais não formam categoria homogênea: possuem características, opiniões e sistemas produtivos diversos. Por isso, este trabalho propõe que as intervenções educacionais sejam amplas o suficiente para contemplar diversos públicos e procedimentos. A participação dos alunos foi estimuladora; dado seu interesse no assunto, eles expressaram grande preocupação com o córrego e sua nascente. Desse modo, acreditamos ter contribuído para: o processo de gestão de microbacias; o estudo do meio ambiente com tema centralizado em microbacia; prover algumas necessidades de informações de problemas ambientais na microbacia; e reconhecer problemas existentes. O instrumental estatístico usado ― via análise fatorial de correspondência múltipla e análise de Cluster ― permitiu mostrar a complexidade da realidade estudada pela identificação de três tipos de produtores rurais. O que foi depreendido nesta investigação, revela que esses métodos estatísticos constituem interessante caminho metodológico para estudos futuros sobre percepção, avaliação e análise de impactos ambientais, sociais e econômicos / The main objective was oriented procedures in environmental education and to make perception environmental of different social group multivariable data analysis. This work was focused on field research, qualitative and quantitative research and, the Capituva watershed study. The methodology was divided into three stages: the exploratory – choice and characterization of the study area and the people involved in it; the preliminary and diagnostic study ― characterization of the landed system, the land users, the system of agricultural production, and the environmental quality and multivariable data analysis; the environmental education procedures. The participation of rural producers in this research had the purpose of identifying actual problems, determining priorities, and finding solutions considering their socioeconomic conditions and rudimentary knowledge. The enrollment of municipal district teachers, students, and professionals in the environmental education procedures was intended to verify the community's perception, and stimulate their interest and participation in projects of environment management. This investigation has showed that the population can identify their main environmental problems, but they need information on basic sanitation and techniques to alter their production process to acquire feasible, preventive and corrective solutions. These rural producers are socially harmed and directly overburdened by the environment management procedures and they cannot take part in the decision-making processes. Management processes are complex because they involve conflicts among the several users of the basins and also because they are not fairly consistent with the economic reality of rural producers. This project focuses on assisting these producers to overcome the difficulties enabling them to reach a consensus, to develop the habit of cooperation, and to receive fair subsidies so that the small producers can implement their goals. The land owners are not a homogeneous category. They have different characteristics, opinions and productive systems. In view of this, this study suggests the educational sector to take an effective action to benefit the producers. The participation of the students was exciting since they expressed interest in the subject and concern about the stream of Capituva. Thus, we believe to have contributed towards the process of watershed management, the study of the environment focusing on watersheds, the provision of relevant information about the watershed environmental problems, and the acknowledgement of difficulties. The statistics multiple correspondence factorial analysis and Cluster analysis permitted to identify three groups rural producers and to show methodological procedure to study environment impact, social and economic analysis

Orientador: Gilmar Barreto / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação / Made available in DSpace on 2018-08-12T10:12:12Z (GMT). No. of bitstreams: 1 GiraldoClavijo_David_M.pdf: 8609535 bytes, checksum: 3757243978613825c57c07d4e9b3cae4 (MD5) Previous issue date: 2008 / Resumo: Este estudo apresenta os fundamentos teóricos para modelagem de dados multivariáveis no espaço de estado através de Métodos de Subespaços para Identificação de sistemas lineares invariantes no tempo, discretos no tempo. O trabalho contém alguns conceitos básicos de sistemas dinâmicos, um pouco da história e os elementos de identificação de sistemas, modelos no espaço de estado e modelos estendidos no espaço de estado. Dois Métodos de Subespaços são analisados e tratados, o Multivariable Output-Error State-sPace (MOESP) e o Numerical algorithm for Subspace State-Space System IDentification (N4SID). Modificações nos seus algoritmos são propostas e implementadas. Experimentos com benchmarks são realizados para exemplificar o procedimento de identificação por subespaços e para avaliar os algoritmos modificados. / Abstract: This study presents the theoretical foundations of multivariable data modeling in state space by Subspace Methods for Systems Identification of linear time invariant, discrete time, systems. The work contains some basic concepts of dynamic systems, a little of history and the elements of systems identification, state space models and extended state space models. Two Subspace Methods are analyzed and applied, Multivariable Output-Error State-sPace (MOESP)and Numerical algorithm for Subspace State-Space System IDentification (N4SID). Some modifications then are proposed and implemented. Experiments with benchmarks are realized to show the procedure of Identification by subspace and to evaluate the modified algorithms. / Mestrado / Automação / Mestre em Engenharia Elétrica

In this thesis we have investigated two different types of problems in multivariable operator theory. The first one deals with the defect sequence for contractive tuples and maximal con-tractive tuples. These condone deals with the wandering subspaces of the Bergman space and the Dirichlet space over the polydisc. These are described in thefollowing two sections. (I) The Defect Sequence for ContractiveTuples LetT=(T1,...,Td)bead-tuple of bounded linear operators on some Hilbert space H. We say that T is a row contraction, or, acontractive tuplei f the row operator (Pl refer the abstract pdf file)

L'objectif de cette thèse est la conception, dans un premier temps, des différentes stratégies de commande pour un générateur hybride composé par une pile à combustible et une source auxiliaire de stockage d'énergie. L'outil des Inégalités Linéaires Matricielles (LMI) est utilisé dans la thèse pour la solution du problème de la commande robuste et multi-variables. Dans un premier temps la commande se consacre à la gestion de la partie électrique de la pile. Des stratégies de commande sont proposées pour les convertisseurs élévateurs du bus continu mais aussi pour le contrôle d'un onduleur de tension conçu pour une opération en mode isolé du réseau. La validation d'une partie du contrôle sous un banc d'essai a été réalisée. Dans un deuxième temps, la commande de la partie fluidique de la pile a été traitée. La gestion de la dynamique de l'air en entrée de la pile est assurée par la commande du débit du compresseur. Le sous-système de compression d'air est régulé pour garantir un certain taux d'excès d'oxygène désiré, ce qui permet d'améliorer les performances de la pile. Une introduction au contrôle des systèmes à paramètres variants (LPV) est aussi présentée. Des études de robustesse des contrôleurs proposés ont été effectuées, et ces caractères robustes sont comparés avec plusieurs méthodes de commande classique, prouvant ainsi l'importance des méthodologies de commande robuste et multi-variables. / The objective of this thesis is the design of several control strategies for a hybrid power generator composed by a fuel cell and an auxiliary energy storage source. The Linear Matrix Inequalities (LMI) tools are extensively used in this dissertation as a solution to the mutivariable robust control problem. As a first approach, the control methodology is consecrated to the electrical power management sub-system of the fuel cell. Different strategies are proposed to control the hybrid boost power converter configuration for DC voltage applications. The methodology is extended to AC islanded applications considering the additional control of a voltage inverter. The validation on a dedicated test-bench, of a part of the proposed control strategies, is presented. In a second approach, the control of the air supply system is addressed. The management of the air dynamic entering the fuel cell is assured by the control of the air flow of a compressor. The air supply sub-system is controlled to keep a desired oxygen excess ratio, this allow to improve the fuel cell performance. An introduction to the control of Linear Varying Parameter (LPV) systems is also presented. Robustness analysis studies are performed, these robust properties are contrasted with several classic control strategies, demonstrating the advantage and the importance of multivariable robust methodologies.

No / A multivariable model of an automotive gas turbine, obtained from the linearized system equations is investigated. To facilitate vehicle speed changes, whilst protecting the system against thermal damage, control of the power turbine inlet gas temperature and gas generator speed is proposed by feedback regulation. Fuel flow and the power turbine nozzle area variations are the selected, manipulatable inputs. Owing to the limited control energy available for regulation purposes a multivariable, optimum, minimum control effort strategy is employed in the inner loop controller design study. Simulated, open and closed loop system responses are presented for purposes of comparison. Significant improvements in the transient response interaction reaction times and low steady state output interaction achieved using passive compensation and output feedback alone. Simplification of the closed loop configuration is proposed in the final implementation without performance penalties.

High blood pressure, also called hypertension is one of the most common worldwide diseases afflicting humans and is a major risk factor for stroke, myocardial infarction, vascular disease, and chronic kidney disease. If blood pressure is controlled and oscillations in the hemodynamic variables are reduced, patients experience fewer complications after surgery. In clinical practice, this is usually achieved using manual drug delivery. Given that different patients have different sensitivity and reaction time to drugs, determining manually the right drug infusion rates may be difficult. This is a problem where automatic drug delivery can provide a solution, especially if it is designed to adapt to variations in the patient’s conditions. This research work presents an investigation into the development of abnormal blood pressure (hypertension) controllers for postoperative patients. Control of the drugs infusion rates is used to simultaneously regulate the hemodynamic variables such as the Mean Arterial Pressure (MAP) and the Cardiac Output (CO) at the desired level. The implementation of optimal control system is very essential to improve the quality of patient care and also to reduce the workload of healthcare staff and costs. Many researchers have conducted studies earlier on modelling and/or control of abnormal blood pressure for postoperative patients. However, there are still many concerns about smooth transition of blood pressure without any side effect. The blood pressure is classified in two categories: high blood pressure (Hypertension) and low blood pressure (Hypotension). The hypertension often occurred after cardiac surgery, and the hypotension occurred during cardiac surgery. To achieve the optimal control solution for these abnormal blood pressures, many methods are proposed, one of the common methods is infusing the drug related to blood pressure to maintain it at the desired level. There are several kinds of vasodilating drugs such as Sodium Nitroprusside (SNP), Dopamine (DPM), Nitro-glycerine (NTG), and so on, which can be used to treat postoperative patients, also used for hypertensive emergencies to keep the blood pressure at safety level. A comparative performance of two types of algorithms has been presented in chapter four. These include the Internal Model Control (IMC), and Proportional-Integral-Derivative (PID) controller. The resulting controllers are implemented, tested and verified for three sensitivity patient response. SNP is used for all three patients’ situation in order to reduce the pressure smoothly and maintain it at the desire level. A Genetic Algorithms (GAs) optimization technique has been implemented to optimise the controllers’ parameters. A set of experiments are presented to demonstrate the merits and capabilities of the control algorithms. The simulation results in chapter four have demonstrated that the performance criteria are satisfied with the IMC, and PID controllers. On the other hand, the settling time for the PID control of all three patients’ response is shorter than the settling time with IMC controller. Using multiple interacting drugs to control both the MAP and CO of patients with different sensitivity to drugs is a challenging task. A Multivariable Model Reference Adaptive Control (MMRAC) algorithm is developed using a two-input, two-output patient model. Because of the difference in patient’s sensitivity to the drug, and in order to cover the wide ranges of patients, Model Reference Adaptive Control (MRAC) has been implemented to obtain the optimal infusion rates of DPM and SNP. This is developed in chapters five and six. Computer simulations were carried out to investigate the performance of this controller. The results show that the proposed adaptive scheme is robust with respect to disturbances and variations in model parameters, the simulation results have demonstrated that this algorithm cannot cover the wide range of patient’s sensitivity to drugs, due to that shortcoming, a PID controller using a Neural Network that tunes the controller parameters was designed and implemented. The parameters of the PID controller were optimised offline using Matlab genetic algorithm. The proposed Neuro-PID controller has been tested and validated to demonstrate its merits and capabilities compared to the existing approaches to cover wide range of patients. / Libyan Ministry of Higher Education scholarship

With the transition towards renewable energy, and the deregulation of the electricity market, generation patterns and grid topology are changing. These changes increase the need for transfer capacity. One limiting factor, which sometimes leads to underutilization of the transmission grid, is interarea oscillations. These system-wide modes involve groups of generators oscillating relative to each other and are sometimes hard to control due to their scale and complexity. In this thesis we investigate how high-voltage direct current (HVDC) transmission can be used to attenuate interarea oscillations. The thesis has two main contributions. In the first contribution we show how the stability of two asynchronous grids can be improved by modulating the active power of a single interconnecting HVDC link. One concern with modulating HVDC active power is that the interaction between interarea modes of the two grids may have a negative impact on system stability. By studying the controllability Gramian, we show that it is always possible to improve the damping in both grids as long as the frequencies of their interarea modes are not too close. For simplified models, it is explicitly shown how the controllability, and therefore the achievable damping improvements, deteriorates as the frequency difference becomes small. The second contribution of the thesis is to show how coordinated control of two (or more) links can be used to avoid interaction between troublesome interarea modes. We investigate the performance of some multivariable control designs. In particular we look at input usage as well as robustness to measurement, communication, and actuator failures. Suitable controllers are thereby characterized. / Övergången till förnybar energi och avregleringen av elmarknaden leder till förändrade produktions-och överföringsmönster. Dessa förändringar medför behov av en ökad överföringskapacitet. En begränsande faktor, som kan leda till ett underutnyttjande av stamnätet, är interareapendlingar. Dessa systemövergripande pendlingar involverar grupper av generatorer som svänger i förhållande till varandra. Interareapendlingar är ibland svåra att styra på grund av deras skala och komplexitet. I denna avhandling undersöker vi hur förbindelser med högspänd likström, engleska high-voltage direct current (HVDC), kan användas för att dämpa interareapendlingar. Avhandlingen har två huvudbidrag. I det första bidraget visar vi hur stabiliteten hos två olika synkrona nät kan förbättras genom att modulera den aktiva effekten hos en enda HVDC-länk. Ett bekymmer med aktiv effektmodulering är att växelverkan mellan interareapendlingar hos de två näten kan ha en negativ inverkan på systemets stabilitet. Genom att studera styrbarhetsgramianen visar vi att det alltid är möjligt att förbättra dämpningen i båda näten så länge som frekvenserna hos deras interareapendlingar inte ligger för nära varandra. För förenklade modeller visas det uttryckligen hur styrbarheten och därmed de möjliga dämpningsförbättringarna, försämras då frekvensskillnaden blir liten. Avhandlings andra bidrag visar hur koordinerad styrning av två (eller fler) länkar kan användas för att undvika växelverkan mellan besvärliga interareapendlingar. Vi undersöker prestandan hos olika typer av flervariabla regulatorer. I synnerhet undersökers styrsignalsanvändning samt robusthet mot mät-, kommunikations- och aktuatorfel. Därigenom karakteriseras lämpliga regulatortyper. / <p>QC 20190308</p>

En écologie, dans le cadre par exemple d’études des services fournis par les écosystèmes, les modélisations descriptive, explicative et prédictive ont toutes trois leur place distincte. Certaines situations bien précises requièrent soit l’un soit l’autre de ces types de modélisation ; le bon choix s’impose afin de pouvoir faire du modèle un usage conforme aux objectifs de l’étude. Dans le cadre de ce travail, nous explorons dans un premier temps le pouvoir explicatif de l’arbre de régression multivariable (ARM). Cette méthode de modélisation est basée sur un algorithme récursif de bipartition et une méthode de rééchantillonage permettant l’élagage du modèle final, qui est un arbre, afin d’obtenir le modèle produisant les meilleures prédictions. Cette analyse asymétrique à deux tableaux permet l’obtention de groupes homogènes d’objets du tableau réponse, les divisions entre les groupes correspondant à des points de coupure des variables du tableau explicatif marquant les changements les plus abrupts de la réponse. Nous démontrons qu’afin de calculer le pouvoir explicatif de l’ARM, on doit définir un coefficient de détermination ajusté dans lequel les degrés de liberté du modèle sont estimés à l’aide d’un algorithme. Cette estimation du coefficient de détermination de la population est pratiquement non biaisée. Puisque l’ARM sous-tend des prémisses de discontinuité alors que l’analyse canonique de redondance (ACR) modélise des gradients linéaires continus, la comparaison de leur pouvoir explicatif respectif permet entre autres de distinguer quel type de patron la réponse suit en fonction des variables explicatives. La comparaison du pouvoir explicatif entre l’ACR et l’ARM a été motivée par l’utilisation extensive de l’ACR afin d’étudier la diversité bêta. Toujours dans une optique explicative, nous définissons une nouvelle procédure appelée l’arbre de régression multivariable en cascade (ARMC) qui permet de construire un modèle tout en imposant un ordre hiérarchique aux hypothèses à l’étude. Cette nouvelle procédure permet d’entreprendre l’étude de l’effet hiérarchisé de deux jeux de variables explicatives, principal et subordonné, puis de calculer leur pouvoir explicatif. L’interprétation du modèle final se fait comme dans une MANOVA hiérarchique. On peut trouver dans les résultats de cette analyse des informations supplémentaires quant aux liens qui existent entre la réponse et les variables explicatives, par exemple des interactions entres les deux jeux explicatifs qui n’étaient pas mises en évidence par l’analyse ARM usuelle. D’autre part, on étudie le pouvoir prédictif des modèles linéaires généralisés en modélisant la biomasse de différentes espèces d’arbre tropicaux en fonction de certaines de leurs mesures allométriques. Plus particulièrement, nous examinons la capacité des structures d’erreur gaussienne et gamma à fournir les prédictions les plus précises. Nous montrons que pour une espèce en particulier, le pouvoir prédictif d’un modèle faisant usage de la structure d’erreur gamma est supérieur. Cette étude s’insère dans un cadre pratique et se veut un exemple pour les gestionnaires voulant estimer précisément la capture du carbone par des plantations d’arbres tropicaux. Nos conclusions pourraient faire partie intégrante d’un programme de réduction des émissions de carbone par les changements d’utilisation des terres. / In ecology, in ecosystem services studies for example, descriptive, explanatory and predictive modelling all have relevance in different situations. Precise circumstances may require one or the other type of modelling; it is important to choose the method properly to insure that the final model fits the study’s goal. In this thesis, we first explore the explanatory power of the multivariate regression tree (MRT). This modelling technique is based on a recursive bipartitionning algorithm. The tree is fully grown by successive bipartitions and then it is pruned by resampling in order to reveal the tree providing the best predictions. This asymmetric analysis of two tables produces homogeneous groups in terms of the response that are constrained by splitting levels in the values of some of the most important explanatory variables. We show that to calculate the explanatory power of an MRT, an appropriate adjusted coefficient of determination must include an estimation of the degrees of freedom of the MRT model through an algorithm. This estimation of the population coefficient of determination is practically unbiased. Since MRT is based upon discontinuity premises whereas canonical redundancy analysis (RDA) models continuous linear gradients, the comparison of their explanatory powers enables one to distinguish between those two patterns of species distributions along the explanatory variables. The extensive use of RDA for the study of beta diversity motivated the comparison between its explanatory power and that of MRT. In an explanatory perspective again, we define a new procedure called a cascade of multivariate regression trees (CMRT). This procedure provides the possibility of computing an MRT model where an order is imposed to nested explanatory hypotheses. CMRT provides a framework to study the exclusive effect of a main and a subordinate set of explanatory variables by calculating their explanatory powers. The interpretation of the final model is done as in nested MANOVA. New information may arise from this analysis about the relationship between the response and the explanatory variables, for example interaction effects between the two explanatory data sets that were not evidenced by the usual MRT model. On the other hand, we study the predictive power of generalized linear models (GLM) to predict individual tropical tree biomass as a function of allometric shape variables. Particularly, we examine the capacity of gaussian and gamma error structures to provide the most precise predictions. We show that for a particular species, gamma error structure is superior in terms of predictive power. This study is part of a practical framework; it is meant to be used as a tool for managers who need to precisely estimate the amount of carbon recaptured by tropical tree plantations. Our conclusions could be integrated within a program of carbon emission reduction by land use changes.