Research into observer design for non-linear discrete-time systems has produced many design methods. There is no general design method however and that provides the motivation to search for a new simple and realizable design method. In this thesis, an observer for non-linear discrete-time systems is designed using the sliding mode technique. The equation of the observer error is split into two parts; the first part being a linearized model of the system and the second part an uncertain vector. The sliding mode technique is introduced to eliminate the uncertainty caused by the uncertain vector in the observer error equation. By choosing the sliding surface and the boundary layer, the observer error is attracted to the sliding surface and stays within the sliding manifold. Therefore, the observer error converges to zero. The proposed technique is applied to two cases of observers for nonlinear discrete-time systems. The second case is chosen to be a particular practical system, namely the non-linear discrete-time ball and beam system. The simulations show that the sliding mode technique guarantees the convergence of the observer error for both systems.

In the control of batch and continuous distillation columns, one of the most challenging problem is the difficulty in measuring compositions. This problem can be handled by estimating the compositions from readily available online temperature measurements using a state observer. The aim of this study is to design a state observer that estimates the product composition in a multicomponent batch distillation column (MBDC) from the temperature measurements and to test this observer using a batch column simulation. To achieve this, first a model for MBDC is prepared and compared with the data from literature where a case column is utilized. After checking the validity of the simulation package, it is used as a fictitious process for the performance evaluations. In the second phase of the study, an extended Kalman Filter (EKF) is designed by utilizing a simplified model of MBDC and it is implemented for performance investigation on the case column with 8 trays separating the mixture of cyclohexane, n-heptane and toluene. The simplified model utilized in EKF results in response, which have some deviation with rigorous model, mainly due to the simplification of vapor-liquid equilibrium relationship. In the performance evaluation, the tuning parameters of EKF / the diagonal terms of process noise covariance matrix and the diagonal terms of measurement model noise covariance matrix are changed in the range of 50&iexcl / 1x10&iexcl / 7 and 0:5&iexcl / 5x108 and the optimum values are found as 0:00001 and 5000, respectively. The effect of number of measurement points is also investigated with a result of number of component measurements. The effect of measurement period value is also studied and found that it has a major effect on the performance which has to be determined by the available computational facilities. The control of the column is done by utilizing the designed EKF estimator and the estimator is successfully used in controlling the product purities in MBDC under variable reflux-ratio operation.

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One of the most common goals in manufacturing is to improve the quality and accuracy of the parts being fabricated without reducing productivity. Aiming at this goal, many different manufacturing processes have been developed. Among them, machining plays a major role in increasing product accuracy. As an important machining process, grinding is a vital step that can produce both fine finish and dimensional accuracy for applications in which the workpiece material is either hard or brittle. Currently, the ball screw is the most frequently used setup for grinding machine tool feed drive. However, the existence of transmission components induces wear, high friction, backlash, and also lower system stiffness; therefore, applications of conventional feed drives for high speed and high accuracy machining are very limited. As a promising technology, a linear motor feed drive discards the transmission system; therefore, it eliminates transmission induced error, such as backlash and pitch error, and avoids stiffness reduction as well. As a result, a linear motor drive can achieve both high speed and high accuracy performance. A linear motor feed drive will be subject to external disturbances such as friction, force ripple and machining force. Due to the lack of a transmission unit, the tracking behavior of a linear motor feed drive is prone to be affected by external disturbances and model parameter variations. Thus, in order to deliver high performance, a controller should be capable of achieving high accuracy in the presence of external disturbance and parameter uncertainty. This dissertation proposes a general robust motion control framework for the CNC design of a linear motor feed drive to achieve high speed/high precision as well as low speed/high precision. An application to the linear motor feed drives in grinding machines was carried out. One of the developed algorithms is the HSMC, which combines the merits of a reaching law based sliding mode control and a modified disturbance observer for precision tracking to address the practical issues of friction, force ripple, and grinding force disturbances. Another algorithm presented is ASMC, which combines the reaching law based sliding mode control with adaptive disturbance estimation to achieve an adaptive robust motion control.

Objectives. Ascertain if there has been a secular trend in 3-months prevalence of casually reported back pain. Evaluate if such back pain predicts concurrent health as well as future sick leave, disability pension, hospitalization and survival. Study differences in diagnostic assessment and labelling between physicians. Evaluate if a comprehensive manual therapy programme reduces sickness absence. Materials and methods. Combined population samples from 1973 to 2003 with a total of 12,891 observations with self-reported back pain and covariates. 7,074 of these individuals were followed for an average of 8.5 years and outcomes were self-reported health as well as official register data on sick leave, disability pension, hospitalisation and mortality. The Gotland Low Back Pain Study, a randomised controlled trial with participation of two general practitioners and two orthopaedic surgeons treating 160 patients with acute/subacute low back pain, with 10 weeks diagnostic evaluation and treatment and a two-year follow up. Results. Back pain prevalence increased 16% per ten years (OR 1.16, 95%CI 1.11-1.22). Back pain was negatively associated with self-rated health (p<0.0001), increased the risk of disability pension (p<0.002), and hospital admissions (p<0.0005), but not number of days in hospital, sick leave or mortality. General practitioners used terms from manual medicine and reported more pseudoradicular pain, while orthopaedic surgeons used non-specific pain labels, reported more true radicular pain and used more x-ray examinations. Among those on sick leave at baseline, manual therapy patients showed faster return to work (HR 1.62, 95%CI 1.006–2.60) and a lower point-prevalence of sick leave than reference patients at end of treatment period (ratio 0.35, 95% CI 0.13–0.97) but not after two years. Conclusions. There was a strong secular trend towards increase in self-reported back pain from 1973 to 2003. Such pain had a negative effect on some of the health outcomes and does not appear to be harmless. Physicians from different specialities labelled the condition differently. The manual therapy programme proved to be more effective than the established treatment regarding return to work.

Diss. (sammanfattning) Linköping : Linköpings universitet, 2008. / Härtill 5 uppsatser.

Diss. (sammanfattning) Stockholm : Karol. inst., 2004. / Härtill 6 uppsatser.

BACKGROUND: Although the Image Quality (IQ) indices calculated by objective Model observers contains more favourable characteristics compared to Figure Of Merits (FOM) derived from the more common subjective evaluations of modern digital diagnostic fluoroscopy units, like CDRAD or the Leeds test-objects, practical issues in form of limited access to unprocessed raw data and intricate laboratory measurements have made the conventional computational methods too inefficient and laborious. One approach of the Statistical Decision Variables (CDV) analysis, made available in the FluoroQuality software, overcome these limitations by calculating the SNR2rate from information entirely based on image frames directly obtained from the imaging system, operating in its usual clinical mode.      AIM: The overall aim of the project has been to make the proposed Model observer methodology readily available and verified for use in common IQ tests that takes place in a hospital based on simple measuring procedures with the default image enhancement techniques turned on. This includes conversion of FluoroQuality to MATLAB, assessment of its applicability on a modern digital unit by means of comparisons of measured SNR2rate with the expected linear response predicted by the classical Rose model, assessment of the methods limiting and optimized imaging conditions (with regard to both equipment and software parameters) and dose-efficiency measurements of the SNR2rate/Doserate Dose-to-information (DI) index including both routine quality control of the detector and equipment parameter analyses.      MATERIALS AND METHODS: A Siemens Axiom Artis Zee MP diagnostic fluoroscopy unit, a Diamentor transmission ionisation chamber and a small T20 solid state detector have been used for acquisition of image data and measurements of Air Kerma-area product rate (KAP-rate) and Entrance Surface Air Kerma rate (ESAK-rate without backscatter). Two sets of separate non-attached test-details, of aluminium and tissue equivalent materials respectively, and a Leeds test object were used as contrasting signals. Dose-efficiency measurements consisted of variation of 4 different parameters: Source-Object-Distance, Phantom PMMA thickness, Field size and Dose rate setting. In addition to these, dimensions of the test details as well as computational parameters of the software, like ROI size and number of frames, were included in the theoretical analyses.      RESULTS: FluoroQuality has successfully been converted to MATLAB and the method has been verified with SNR2rate in accordance with the Rose model with only small deviations observed in contrast analyses, most likely reflecting the methods sensitivity in observing non-linear effects. Useful guidelines for measurement procedures with regard to accuracy and precision have been derived from the studies. Results from measurements of the (squared) DI-indices indicates comparable precision (≤ 8%) with the highest performing visual evaluations but with higher accuracy and reproducibility. What still remains for the method to compete with subjective routine QC tests is to integrate the SNR2rate measurements in an efficient enough QA program.

Made available in DSpace on 2014-06-11T19:27:14Z (GMT). No. of bitstreams: 0 Previous issue date: 2009-09-21Bitstream added on 2014-06-13T20:55:54Z : No. of bitstreams: 1 cavalinijunior_aa_me_ilha.pdf: 4616021 bytes, checksum: bcabaa1ecc36a762e1aa65b62c75b44a (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / O monitoramento da integridade estrutural (SHM) de sistemas mecânicos trata-se de uma tecnologia emergente que combina modernos sensores com inteligentes algoritmos computacionais para analisar a condição da estrutura em tempo real ou quando for necessário. Segurança, alto desempenho em operação e redução nos custos de manutenção são alguns dos principais benefícios concedidos pela tecnologia SHM. Deste modo, esta tecnologia vem encontrando aceitação crescente na indústria, principalmente na aeronáutica e petrolífera onde os custos de manutenção são muito elevados. Dentre as técnicas de monitoramento desenvolvidas, a dos observadores de estado se destacou. No entanto, esta técnica SHM possui algumas restrições que motivam o interesse pelo desenvolvimento de uma nova abordagem para a mesma. Neste contexto, este trabalho alia os já conhecidos observadores de estado com as características do domínio modal a fim de determinar o modo de vibrar mais afetado pela presença de um dano qualquer no sistema monitorado. A partir do conhecimento desta informação é possível projetar, por exemplo, sistemas de controle e manutenção mais eficientes. Contudo, nesta dissertação são apresentadas aplicações numéricas e experimentais em diferentes sistemas mecânicos a fim de detalhar e demonstrar a técnica SHM via Observador de Estado Modal, inicialmente proposta aqui. Algumas destas aplicações contam ainda com sensores e atuadores piezelétricos acoplados as estruturas. Os resultados encontrados mostram pontos favoráveis e desfavoráveis da técnica proposta / Structural Health Monitoring (SHM) is an emerging technology that combines modern sensors with intelligent algorithms to analyze the structural condition in real time or specific time. Security, high operation performance and maintenance reduction costs are some of the key benefits provided by this technology. Not surprisingly, the SHM techniques have recently received increased attention in aircraft and oil industries. Among the developed SHM techniques, state observers had special attention. However, this technique presents some restrictions that motivate the development of a new SHM approach through state observers. In this context, this work associates the already known state observers with features obtained in the modal domain to determine the vibration modes that are more affected by damage presence in the monitored structure. That information makes possible the design of efficient maintenance and control systems. In order to analyze the Modal State Observer technique, firstly presented here, numerical and experimental applications in different mechanical systems are presented. In some applications are used sensors and piezoelectric actuators coupled in the structures. The results lead to the conclusion that the Modal State Observer is a potential useful SHM tool

Submitted by DANIEL CELSO DALTIN null (danieldaltin@gmail.com) on 2017-06-07T13:22:34Z No. of bitstreams: 1 DissertMestradoDaltin2017.pdf: 2523756 bytes, checksum: 17fa1282844e841155dffaaecaca7f4d (MD5) / Approved for entry into archive by Luiz Galeffi (luizgaleffi@gmail.com) on 2017-06-07T13:36:29Z (GMT) No. of bitstreams: 1 daltin_dc_me_bauru.pdf: 2523756 bytes, checksum: 17fa1282844e841155dffaaecaca7f4d (MD5) / Made available in DSpace on 2017-06-07T13:36:29Z (GMT). No. of bitstreams: 1 daltin_dc_me_bauru.pdf: 2523756 bytes, checksum: 17fa1282844e841155dffaaecaca7f4d (MD5) Previous issue date: 2017-05-12 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / O estudo de técnicas de controle de vibração tem grande importância em diversas áreas da Engenharia, tais como Aeroespacial, Automobilística, Mecânica, Robótica, etc. Um dos principais problemas observados nesses sistemas referem-se as oscilações mecânicas oriundas dos movimentos, ocasionando as vibrações nas estruturas flexíveis. Os sistemas de controle de veículos espaciais, satélites artificiais, manipuladores robóticos, guindastes rotativos, vigas engastadas, entre outros, mesmo se considerados rígidos, apresentam comportamento não-linear. Analisar essas situações expostas visa, dentro das diversas áreas, proporcionar maior margem de segurança e estabilidade do equipamento, da carga e dos usuários. Diante desse contexto, este trabalho tem como objetivo desenvolver modelos matemáticos para sistemas rotacionais em estruturas flexíveis e aplicar um Observador de Estados para estimar as variáveis de estado, que permite diminuir a quantidade de sensores, e projetar controladores para atenuar vibrações, com base na resposta experimental, na avaliação, verificação e validação do modelo desenvolvido para controlar vibrações em estruturas flexíveis. A metodologia utilizada baseia-se em desenvolver modelos matemáticos do sistema de controle de vibração para o sistema Rotary Flexible Link da Quanser, que consiste de uma haste metálica flexível acoplada a um servomecanismo que permite o movimento rotacional no plano horizontal. Para a obtenção das equações de movimento, considerou-se o método de Euler-Lagrange. Os resultados foram o desenvolvimento e validação experimental dos modelos matemáticos para controlar a vibração da viga flexível, e com a utilização do Observador de Estados permitiu demonstrar uma ótima estimativa das variáveis de estado, além de eliminar a utilização do tacômetro e do strain gage. / The study of vibration control techniques has great importance in several areas of Engineering, such as Aerospace, Automotive, Mechanics, Robotics, etc. One of the main problems observed in these systems refers to the mechanical oscillations originating from the movements, causing the vibrations in the flexible structures. Space vehicle control systems, artificial satellites, robotic manipulators, rotary cranes, clamped beams, among others, even if considered rigid, exhibit non-linear behavior. Analyzing these exposed situations aims, within the several areas, to provide greater margin of safety and stability of the equipment, the load and the users. Given this context, this work aims to develop mathematical models for rotational systems in flexible structures and to apply a State Observer to estimate the state variables, which allows to reduce the number of sensors, and design controllers to attenuate vibrations, based on the response Experimental, in the evaluation, verification and validation of the model developed to control vibrations in flexible structures. The methodology used is based on developing mathematical models of the vibration control system for the Rotary Flexible Link system of Quanser, which consists of a flexible metal beam coupled to a servomechanism that allows rotational movement in the horizontal plane. In order to obtain the equations of motion, the Euler-Lagrange method was considered. The results were the development and experimental validation of the mathematical models to control the vibration of the flexible beam, and with the use of the State Observer, it was possible to demonstrate a good estimation of the state variables, besides eliminating the use of the tachometer and the strain gage.