Orientador: Flavio Vasconcelos da Silva / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Quimica / Made available in DSpace on 2018-08-08T19:47:46Z (GMT). No. of bitstreams: 1 Leite_ManuelaSouza_M.pdf: 3717840 bytes, checksum: 1a32cacbced30083293d8c9bba042e0c (MD5) Previous issue date: 2007 / Resumo: Devido à crescente importância econômica de biosistemas é imprescindível a introdução de estratégias de monitoração e controle de forma a garantir altos rendimentos, reprodutibilidade, confiabilidade e redução nos custos. A aplicação de controladores juzzy nestes sistemas tem crescido consideravelmente devido a sua capacidade de adaptação às não-linearidades do processo, uma vez que os controladores convencionais possuem ação limitada. O alto valor agregado da bromelina e sua crescente demanda em aplicações farmacêuticas e industriais justificam a necessidade de utilização de controladores avançados que proporcionem condições operacionais adequadas para a recuperação e purificação desta enzima. O controle da temperatura no processo de precipitação de bromelina é fundamental para a redução da desnaturação da enzima e, conseqüentemente, melhora na. qualidade final do produto obtido. Neste trabalho foi desenvolvida uma automação, baseada em instrumentos inteligentes Fieldbus, para monitoramento das variáveis de um sistema para extração de bromelina. Foi realizado um estudo comparativo do desempenho dos controladores convencional e avançado (controlador fuzzy), aplicados na manutenção da temperatura interna de um tanque de precipitação da bromelina. O 10 método de Ziegler-Nichols foi utilizado para a sintonia dos controladores convencionais. Os parâmetros para o controlador PID foram: Kc = 35 %fOC, 'ti = 28 s e 'td = 7 s; e para o controlador PI: Kc = 35 %/oC e 'td = 31 s. O software MATLAB foi utilizado para o desenvolvimento e sintonia do controlador fuzzy, b<).seada em mudança no conjunto universo, na base de regras e na disposição das funções de pertinência do controlador. Na análise comparativa entre os tipos de controladores utilizados no sistema foi observado um melhor desempenho do controlador juzzy, apresentando: menor valor do critério do erro IT AE, menor tempo de subida e melhor desempenho da variável manipulada, uma recuperação da atividade proteolítica da enzima 80 % maior e uma redução de 58 % no consumo de energia elétrica, quando comparado com controladores convencionais / Abstract: The use of fuzzy controllers in bioprocesses has increased greatly in the last few years. In conventional controllers, assumptions and simplifications are often made to build a precise mathematical model that may be far from the real situation. In contrast, fuzzy controllers are an attractive technique for the control of plants that are ill-defined or non-linear systems. The high commercial value of the bromelain and its increasing demand in pharmaceutical and industrial applications justify the necessity of control to provide adequate operational conditions. Temperature control is crucial to avoid the irreversible protein denaturation and consequently to improve the precipitation yield. This work focus on the development of a comparative study between conventional and fuzzy controllers applied to a bromelain recover process from pineapple juice through the precipitation process with a1cohol at a low temperature, using Fieldbus network architeture. The Ziegler Nichols method was used to tuning conventional controllers. The parameters K: = 35 %/oC, 'ti = 28 s e 'td = 7 s was used to PID controller and K: = 35 %/oC e 'td = 31 s was used to PI controller. To tuning the fuzzy controller was tested different uni verse of discourse, base of rules and support sets of membership functions. The experimental results show the effectiveness of fuzzy controller in comparison with the conventional controllers. The fuzzy-PI controller presented reduced error parameter (ITr / Mestrado / Sistemas de Processos Quimicos e Informatica / Mestre em Engenharia Química

O objetivo do trabalho é apresentar o desenvolvimento, simulação e resultados práticos de um Sistema de controle de temperatura, para Experimentos Biomédicos que utilizam soluções aquecidas com vazão variável. O Sistema utiliza um Trocador de Calor projetado para aquecer uma solução que entra no dispositivo a uma temperatura inferior ou igual à do ambiente e sai com o valor programado. A solução é aquecida a partir da água de um reservatório com temperatura controlada. O Controlador de temperatura é do tipo proporcional-integral-derivativo digital e utiliza um microcontrolador para implementação do algoritmo de controle, da aquisição do sinal dos sensores de temperatura, do comando de atuadores e da interface com o usuário / The objective of the work is to present the development, simulation and practical results of a temperature control System for Biomedical Experiments that utilize heated solutions with variable outflow. The System uses a Heat Exchanger designed to heat the solution that enters into device with a lower or the same temperature as the environment and leaves with the programmed value. The Biomedical solution is heated using the Heat Exchanger and water of the reservoir where the temperature is controlled. The digital proportional-integral-derivative temperature Controller takes use of a microcontroller for implementation of the control algorithm, data acquisition of the temperature sensors, command of actuators and user interface

The aim of this project is to create a modern and advanced program for controlling a vacuum furnace used for brazing plate heat exchangers and which includes functions for remote monitoring. A DAQ-unit (Data Acquisition) made by National Instruments connects with an already existing vacuum furnace to send control signals and receive measurements. There is already a control program available for the vacuum furnace but it has a number of shortcomings which the new program is intended to solve. A PID controller is implemented to control the temperature of the furnace. Temperature control is of utmost importance to get the brazing process as stable as possible. Therefore, a simulator has been developed that simulates the entire brazing process. The simulator serves as a tool to optimize values ​​of the constants included in the PID control algorithm. Everything is written in the C# programming language. The braze process has from a code stand point been divided into five phases; lowering pressure, heating, brazing, cooling and finish. A comparison between the new and the old control software shows that heating process is much faster now and that when the correct temperature level has been reached, the temperature variation is considerably lower than before. The entire soldering process is shortened by almost two hours. Temperature control is more efficient and stable than before because of the constants calculated using the simulator and that a PID controller is used instead of a PD controller. New technology is implemented so that a much larger number of samples are obtained. Functions for user access to the history of previous brazing processes has been developed and an interface to easily adjust settings is implemented. Even a web interface for remote monitoring has been created.

During this master thesis an adaptive control system for angular velocity was developed. The approach focuses on radio controlled quadrotors and thereby targets a computational efficient solution. The adaptation is divided into two steps. First, an Integral Squared Plus Time Delay (I2PD) model estimation is done through the Recursive Least Squares (RLS) algorithm. Second, control parameters for the quadrotors Proportional Integral Derivative (PID) controller are found by using empirically modified Tuning Rules (TRs) which are based on the I2PD model. Simulation results show the benefits of an adaptive tuning algorithm in regards of the time consuming process of manually tuning a PID controller as well as robustness against both predictable and unpredictable system changes. This includes actuator degradation, battery consumption, changes in weight or inertia etc. However, it is apparent that the tuning algorithm demands an arbitrary initial approximation to be stable at initialization.

Orientador: Flavio Vasconcelos da Silva / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Quimica / Made available in DSpace on 2018-08-07T21:48:37Z (GMT). No. of bitstreams: 1 Santos_ReginaLuciadeAndradedos_M.pdf: 2611251 bytes, checksum: 3243445f76398670aa1390de96139a08 (MD5) Previous issue date: 2006 / Resumo: Com o advento do sistema digital em rede (fieldbus) e a ampla divulgação das vantagens da utilização desta nova tecnologia aliada ao uso de instrumentos inteligentes, tornou-se inquestionável a melhora no desempenho e confiabilidade dos dados obtidos através deste sistema para o controle em novas plantas industriais ou em sistemas destinados à pesquisa tecnológica. Estratégias de controle clássicas, tais como o controle PID (proporcional ¿ integral ¿ derivativo), são largamente utilizadas no setor industrial devido à sua robustez e facilidade de implementação, embora limitações possam ser observadas quanto à adequação destes controladores às não-linearidades presentes nos sistemas reais. A utilização dos controladores adaptativos (baseados em parâmetros variáveis) permite tais adequações respeitando a dinâmica dos sistemas. Nas últimas décadas tem-se notado um significante aumento na aplicação da teoria de controladores avançados, entretanto, a sua utilização no setor produtivo ainda é incipiente. Apresenta-se, neste trabalho, uma automação híbrida alternativa para monitoramento, em tempo real, das variáveis de processo de um sistema para precipitação da enzima bromelina com supervisão, em tempo real, das condições do processo sob diferentes perturbações na carga, usando estratégia SISO em arquitetura de rede Fieldbus. Além disso, por se tratar de um bioprocesso, em batelada, as não linearidades e o aspecto essencialmente transiente da operação evidenciam a inevitável prioridade na aplicação dos controladores avançados, uma vez que os controladores convencionais possuem ação limitada neste tipo de sistema, garantindo a qualidade final da enzima obtida. Através dos resultados obtidos pôde-se comprovar a que ambos os controladores PID convencional e adaptativo tiveram um bom desempenho na manutenção da temperatura, porém houve um melhor desempenho com o PID adaptativo como foi observado pelos parâmetros de desempenho ITAE, overshoot e tempo de subida / Abstract: Fieldbus technology and intelligent sensors/actuators are increasingly being used in automated systems, opening up new possibilities for distributed control structures, mainly in new plants and research applications where is very important to have a flexible automation structure to different plant conditions with huge flow of information. Significant improvements have been seen in advanced controllers over the last years. However, linear PID controller is still applied extensively in industrial practice. The reason lies in its robustness and well-Known control design and implementation, although assumptions, simplifications, or lumping parameters are often made to build a mathematical model that may be far from the real situation. The behavior of most physical systems, especially bath systems, is nonlinear. Linear control may be effective for local operation, but is inadequate for controlling operations over a broad range. Adaptive controllers are nonlinear systems, which are commonly based on linear control theory. Despite many publications in the last decades illustrating advantages of adaptive controllers, this Kind of control is still not so common in industrial practice. One of reasons for the low incidence of application is relative difficulty to implement this controller. In this study, a comparative experimental design and tuning of conventional PID and adaptive PID controllers was developed for a pilot plant batch to precipitate of enzyme bromelain, using SISO strategy in fieldbus network architecture. The system was applied to the on line control of temperature of the extraction tank, involving a performance control analysis, under different load disturbances. From the results of this work, both controllers were considered suitable to control the temperature of the fedbatch tank. Nevertheless, the closed loop performance was improved under adaptive PID controller: the performance index ITAE, the overshoot and the rise time decreased. / Mestrado / Sistemas de Processos Quimicos e Informatica / Mestre em Engenharia Química

Content of this diploma thesis is project of the digital control design for a thyristor source with GSM communication. Designed for corrosion protection. The work contain design of the whole device from the initial proposals of the electro diagrams up to finished product. It describes the events that arise in corrosion, explains the principle of operating a thyristor as a power switch. It also describes the creation and structure of a simple menu using the STM32 microprocessor. It explains the principle of controlling a source. Next, it deals with controlled rectifiers using a thyristor.

The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.

Thema dieser Bachelorarbeit ist die Entwicklung und Implementierung einer Gimbalsteuerung für den Einsatz an einem Micro Air Vehicle. Ziel ist es,diese kardanische Aufhängung nach einem,von einer Kamer erfassten Objekt auszurichten, so dass dieses im Mittelpunkt der Aufnahme abgebildet wird. Dabei soll das unbemannte Flugobjekt jegliche Bewegungen ausführen können, ohne das verfolgte Objekt zu verlieren. Die Regelung erfolgt mithilfe der Implementation eines PID- Controllers, der sich für diese Zwecke hervorragend eignet,da er wenig Ressourcen benötigt und eine leistungsfähige Steuerung darstellt. Diese Entwicklung wird im Rahmen des 'Automated Power Line Inspection' (APOLI) Projektes genutzt um Isolatoren an Hochspannungsmasten automatisiert inspizieren zu können.

Indiana University-Purdue University Indianapolis (IUPUI) / The lane-keeping system in autonomous vehicles (AV) or even as a part of the advanced driving assistant system (ADAS) is known as one of the primary options of AVs and ADAS. The developed lane-keeping systems work on either computer vision or deep learning algorithms for their lane detection section. However, even the strongest image processing units or the robust deep learning algorithms for lane detection have inaccuracies during lane detection under certain conditions. The source of these inaccuracies could be rainy or foggy weather, high contrast shades of buildings and objects on-street, or faded lines. Since the lane detection unit of these systems is responsible for controlling the steering, even a momentary loss of lane detection accuracy could result in an accident or failure. As mentioned, different lane detection algorithms have been presented based on computer vision and deep learning during the last few years, and each one has pros and cons. Each model may have a better performance in some situations and fail in others. For example, deep learning-based methods are vulnerable to new samples. In this research, multiple models of lane detection are evaluated and used together to implement a robust lane detection algorithm. The purpose of this research is to develop an estimator-based Multiple Model Adaptive Estimation (MMAE) algorithm on the lane-keeping system to improve the robustness of the lane detection system. To verify the performance of the implemented algorithm, the AirSim simulation environment was used. The test simulation vehicle was equipped with one front camera and one back camera used to implement the proposed algorithm. The front camera images are used for detecting the lane and the offset of the vehicle and center point of the lane. The rear camera, which offered better performance in lane detection, was used as an estimator for calculating the uncertainty of each model. The simulation results showed that combining two implemented models with MMAE performed robustly even in those case studies where one of the models failed. The proposed algorithm was able to detect the failures of either of the models and then switch to another good working model to improve the robustness of the lane detection system. However, the proposed algorithm had some limitations; it can be improved by replacing PID controller with an MPC controller in future studies. In addition, in the presented algorithm, two computer vision-based algorithms were used; however, adding a deep learning-based model could improve the performance of the proposed MMAE. To have a robust deep learning-based model, it is suggested to train the network based on AirSim output images. Otherwise, the network will not work accurately due to the differences in the camera's location, camera configuration, colors, and contrast.

京都大学 / 0048 / 新制・課程博士 / 博士(情報学) / 甲第19125号 / 情博第571号 / 新制||情||100(附属図書館) / 32076 / 京都大学大学院情報学研究科システム科学専攻 / (主査)教授 杉江 俊治, 教授 石井 信, 教授 加納 学, 准教授 東 俊一 / 学位規則第4条第1項該当 / Doctor of Informatics / Kyoto University / DFAM