Cette thèse propose des solutions aux problématiques inhérentes au contrôle de formations aériennes de type leader­-suiveur pour des flottes de quadrirotors. Au regard des travaux existants, les stratégies qui sont proposés dans notre travail, considère que le(s) leader{s) a une interaction avec les suiveurs. En outre, les rôles de leader et de suiveur sont interchangeables lors de la formation. Dans un premier temps, la modélisation mathématique d'un seul quadrirotor et celle de la formation de quadrirotors est développée. Ensuite, le problème de suivi de trajectoire pour un seul quadrirotor est étudié. Au travers de l'analyse de 1, dynamique du système pour la conception d'une commande par platitude, il apparait que le suivi de trajectoire pour chaque quadrirotor équivaut à déterminer les sorties plates désirées. Un contrôleur pour système plats permettant l'asservissement des drones pour le suivi de trajectoire est donc proposé. Étant donné la propriété de double-boucle de la dynamique du quadrirotor en boucle fermée, un contrôleur d'attitude avec des grands gains est conçu, selon la théorie « singular perturbation system ». Puisque la dynamique du quadrirotor en boucle fermée fonctionne sur deux échelles de temps, la dynamique de rotation (boundary-layer mode) est contrôlée sur l'échelle de temps la plus rapide. La conception du contrôleur de formation dépend seulement de la dynamique de translation (modèle réduit dans une échelle de temps lente). Ce résultat a simplifié la conception du contrôleur de formation, de telle sorte que le modèle réduit du quadrirotor est utilisé au lieu du modèle complet. Étant donné que le modèle réduit du quadrirotor a une caractéristique de double-intégrateur, un algorithme de consensus pour des systèmes caractérisés par de multiple double-intégrateurs est proposé. Pour traiter le problème de la formation leader-suiveur, une matrice d'interaction est initialement proposée basée sur la matrice de Laplacienne. Nous montrons que la condition de convergence et la vitesse de convergence de l'erreur de formation dépendent de la plus petite valeur propre de la matrice d'interaction. Trois stratégies de contrôle de la formation avec une topologie fixe sont ensuite proposées. Le contrôle de formation par platitude est proposé pour obtenir une formation agressive, tandis que les dérivées de grands ordres de la trajectoire désirée pour chaque UAV sont estimées en utilisant un observateur; la méthode Lyapunov redesign est implémentée pour traiter les non-linéarités de la dynamique de la translation des quadrotors; une loi de commande bornée par l'utilisation, entre autre, de la fonction tangente hyperbolique est développée avec un feedback composite non linéaire, afin d'améliorer les performances de la formation. De plus, une commande de commutation saturée de la formation est étudiée, car la topologie de la formation est variable. La stabilité du système est obtenue grâce aux théories “convex hull » et « common Lyapunov function ». Cette stratégie de commande de commutation permet le changement des leaders dans la formation. Inspirée par certains travaux existants, tels que le contrôle de la formation avec des voisins anonymes, nous proposons, finalement, une loi de commande avec des voisins pondérés, qui montre une meilleure robustesse que le contrôle avec des voisins anonymes. Les résultats de simulation obtenus avec Matlab illustrent premièrement nos stratégies de contrôle que nous proposons De plus, en utilisant le langage de programmation C ++, nos stratégies sont mises en œuvre dans un framework de simulation et d'expérimentation développé au laboratoire Heudiasyc. Grâce aux nombreux tests variés que nous avons réalisés en simulation et en temps-réel, l'efficacité et les avantages de nos stratégies de contrôle de la formation proposées sont présentés. / In this thesis, we address a leader-follower (L-F) formation control problem for multiple UAVs, especially quadrotors. Different from existing works, the strategies, which are proposed in our work, consider that the leader(s) have interaction with the followers. Additionally, the leader(s) are changeable during the formation. First, the mathematical modeling of a single quadrotor and of the formation of quadrotors is developed. The trajectory tracking problem for a single quadrotor is investigated. Through the analysis of the flatness of the quadrotor dynamical model, the desired trajectory for each quadrotor is transferred to the design of the desired at outputs. A flatness-based trajectory tracking controller is, then, proposed. Considering the double-loop property of the closed-loop quadrotor dynamics, a high-gain attitude controller is designed, according to the singular perturbation system theory. Since the closed-loop quadrotor dynamics performs in two time scales, the rotational dynamics (boundary-layer model) is controlled in a fast time scale. The formation controller design is then only considered for the translational dynamics: reduced model in a slow time scale. This result has simplified the formation controller design such that the reduced model of the quadrotor is considered instead of the complete model. Since the reduced model of the quadrotor has a double-integrator characteristic, consensus algorithm for multiple double-integrator systems is proposed. Dealing with the leader-follower formation problem, an interaction matrix is originally proposed based on the Laplacian matrix. We prove that the convergence condition and convergence speed of the formation error are in terms of the smallest eigenvalue of the interaction matrix. Three formation control strategies with fixed formation topology are then proposed. The flatness-based formation control is proposed to deal with the aggressive formation problem, while the high-order derivatives of the desired trajectory for each UAV are estimated by using an observer; the Lyapunov redesign is developed to deal with the nonlinearities of the translational dynamics of the quadrotors; the hyperbolic tangent-based bounded control with composite nonlinear feedback is developed in order to improve the performance of the formation. In an additional way, a saturated switching control of the formation is investigated, where the formation topology is switching. The stability of the system is obtained by introducing the convex hull theory and the common Lyapunov function. This switching control strategy permits the change of the leaders in the formation. Inspired by some existing works, such as the anonymous neighbor-based formation control, we finally propose a weighted neighbor-based control, which shows better robustness than the anonymous neighbor-based control. Simulation results using Matlab primarily illustrate our proposed formation control strategies. Furthermore, using C++ programming, our strategies are implemented on the simulator-experiment framework, developed at Heudiasyc laboratory. Through a variety of tests on the simulator and real-time experiments, the efficiency and the advantages of our proposed formation control strategies are shown. Finally, a vision-based inter-distance detection system is developed. This system is composed by an on-board camera, infrared LEDs and an infrared filter. The idea is to detect the UAVs and calculate the inter-distance by calculating the area of the special LEDs patterns. This algorithm is validated on a PC, with a webcam and primarily implemented on a real quadrotor.

Orientador: Robson Pederiva / Tese (doutorado) - Universidade Estadual de Campinas. Faculdade de Engenharia Mecanica / Made available in DSpace on 2018-08-09T22:58:42Z (GMT). No. of bitstreams: 1 LamimFilho_PauloCezarMonteiro_D.pdf: 3058410 bytes, checksum: b3139213ab7f18f3ff80772b9e063ab3 (MD5) Previous issue date: 2007 / Resumo: Um programa de manutenção preditiva deve englobar várias técnicas de monitoramento a condição do motor elétrico. Dentre elas, pode-se citar como clássicas, a análise de corrente elétrica e análise de vibrações. Entretanto, existe um grande número de dificuldades associadas com estas técnicas e, conseqüentemente, com suas aplicações in loco no parque fabril. Isto ocorre devido ao largo espectro de possíveis defeitos, tais como: curto circuito entre espiras, desequilíbrio de fase e falhas de barras rotativas do rotor. Este trabalho propõe a implementação de um transdutor (bobina de fluxo) sensível às ondas eletromagnéticas dentro dos motores de indução trifásicos para a detecção, diagnóstico e monitoramento on-line. Foi obtida uma relação entre as principais falhas de origem elétrica (curto circuito entre espiras, desequilíbrio de fase e barras quebradas) com os sinais de fluxo magnético, sendo estabelecidas as freqüências características de falhas. No trabalho é proposto o uso da lógica fuzzy para o monitoramento online. A condição do motor é descrita através de variáveis lingüísticas. Uma base de regras foi construída para ser usada pelo método de inferência fuzzy. O motor de indução é diagnosticado pela composição do conjunto de regras do método de inferência. Os resultados experimentais comprovaram a eficiência do sensor proposto e da estratégia de detecção, diagnóstico e monitoramento on-line, podendo ser futuramente incluídos em Programas de Manutenção Preditiva / Abstract: A predictive maintenance program must include several techniques of monitoring of the electric motor¿s conditions. Among these techniques, probably the two most classic ones are related to electric current and vibration analysis. Unfortunately, in both cases inherent drawbacks make difficult their use in loco on industry plants. As there is a large range of possible fault sources and abnormal machine use conditions (such as inter-turn short circuits, unbalanced voltage supplies and broken rotor bars) the determination of the real machine problem is difficult. This work presents the implementation of a special sensor developed (flux coil sensor) inside three-phase induction motors used as experimental platforms. This sensor is sensitive to electromagnetic waves and they are used for detection, diagnosis, and on-line monitoring of electrical faults. It was established a relation between the main electrical faults (inter-turn short circuits, unbalanced voltage supplies and broken rotor bars) and the signals of magnetic flux, that were identified the characteristic frequencies of these faults. In this work, it is proposed the use of fuzzy logic for the on-line monitoring. The motor operational conditions are described by using fuzzy linguistic variables. A knowledge base, comprising fuzzy rules and databases, was built to support the fuzzy inference process. The conditions of the induction motors used during the test phase are diagnosed using a compositional rule and fuzzy inference procedures. The experimental results shown the efficiency of the flux coil sensor developed and the strategies for detection, diagnosis, and on-line monitoring tasks. The results were undoubtedly impressive and in a near future the system developed can be adapted and used in real predictive maintenance programs in industries / Doutorado / Mecanica dos Sólidos e Projeto Mecanico / Doutor em Engenharia Mecânica

Orientadores: Rubens Maciel Filho, Eduardo Coselli Vasco de Toledo / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Quimica / Made available in DSpace on 2018-08-07T10:33:28Z (GMT). No. of bitstreams: 1 Santos_MarcelaG.Motados_D.pdf: 1519927 bytes, checksum: 9ed575105854208c7e8d99f024c4128a (MD5) Previous issue date: 2006 / Resumo: O objetivo principal deste trabalho foi a avaliação de estratégias de controle clássicas e hierárquicas em tempo real. Utilizou-se como estudo de caso a hidrogenação de o-cresol em reator de lama catalítico trifásico com catalisador sólido para validar as propostas de otimização em tempo real, devido à importância inerente deste tipo de processo, uma vez que reatores catalíticos trifásicos estão presentes em muitos processos das indústrias químicas, petroquímicas e afins, havendo uma preferência crescente em comparação com outros tipos de reatores mais convencionais. Foi investigada neste trabalho a performance de algumas versões do algoritmo de controle avançado DMC (Dynamic Matrix Control) em sua forma quadrática (QDMC - Quadratic Dynamic Matrix Control) e adaptativa (STQDMC - Self Tuning Quadratic Dynamic Matrix Control) sob diferentes estratégias de controle (feedback, feedforward e mista). O processo foi representado através de modelos determinísticos e estatísticos. Foi proposta uma metodologia alternativa para a definição dos parâmetros ótimos do modelo para a faixa de operação válida para este estudo baseada em princípios de análise de superfícies de resposta. Devido à importância de otimização dos processos para o alcance de objetivos operacionais e econômicos, foram também avaliadas estruturas de otimização em duas camadas, utilizando-se para este fim os algoritmos de otimização baseados nos procedimentos de Levenberg-Marquardt e SQP (Sequential Quadratic Programming). Foram propostas estruturas tradicionais de otimização em duas camadas, na qual o otimizador gera os set-points para o controlador, mas, além disso, foi proposta uma estrutura alternativa, na qual o otimizador, além de gerar os set-points para o controlador, envia também os valores ótimos para a variável manipulada, tornando este procedimento, na maioria dos casos, mais rápido e eficiente. Ainda no campo da otimização em tempo real, são apresentadas as bases matemáticas para a implementação de uma estrutura de otimização em uma camada, na qual os problemas de controle e otimização são resolvidos simultaneamente, sendo este procedimento sugerido como sugestão para trabalhos futuros. Os estudos realizados neste trabalho permitiram concluir que a estratégia de otimização em duas camadas apresenta resultados satisfatórios. Além disso, sempre deve-se ter em mente os objetivos de controle e otimização para que se possa ponderar a utilização das estratégias de controle feedback ou feedforward, e até mesmo uma combinação entre as duas / Abstract: The principal objective of this work was the evaluation of classic and hierarchical control strategies in real time. It was used as case study the o-cresol hydrogenation in a three-phase slurry reactor with solid catalyst to validate the real time optimization approaches, due to the inherent importance of this process, since these reactors are present in many processes of the chemical and petrochemicals industries, with growing preference in comparison with other types of more conventional reactors. It was investigated the performance of some versions of the advanced control algorithm DMC (Dynamic Matrix Control) in a quadratic (QDMC - Quadratic Dynamic Matrix Control) and adaptive (STQDMC - Self Tuning Quadratic Dynamic Matrix Control) form under different control strategies (feedback, feedforward and mixed). The process was represented through deterministic and statistical models. An alternative methodology was proposed for the definition of the optimal model parameters for the valid operational range based on principles of response surface analysis. It was evaluated two-Iayers structure optimization, using optimization algorithms based on Levenberg-Marquardt and SQP (Sequential Quadratic Programming) procedures. Traditional two-layers optimization approaches were proposed. In this approach the optimizer generates the set-points for the controller. Besides, an alternative approach was proposed where the optimizer, besides generating the set-points for the controller, also sends the optimal values for the manipulated variables, becoming this procedure, in most of the cases, faster and efficient. In relation to real time optimization, the mathematical bases are presented for the one-Iayer optimization approach implementation. Here the control and optimization problems are simultaneously resolved. According to this work, the two-Iayers optimization approach presents suitable results. Besides, it should always be considered the control and optimization objectives, in order to weight the feedback or feedforward control strategies and even a mixed one / Doutorado / Desenvolvimento de Processos Químicos / Doutor em Engenharia Química

La motivation qui a initié le projet de recherche ANR « Démonstrateur Gun Launched Micro Air Vehicle » est le besoin d’avoir un engin portatif qui permettrait d’obtenir rapidement des images d’une zone d’intérêt située à quelques centaines de mètres, avec la possibilité de pouvoir observer l’intérieur des bâtiments à travers leurs fenêtres ou en allant les explorer directement. Pour répondre à ce besoin, l’Institut franco-allemand de recherche de St Louis a eu l’idée de lancer un minidrone hélicoptère avec un canon. Le GLMAV, sous la forme d’un projectile, est lancé à partir d‘un tube portable à une distance de 500 m et une altitude de 100 m, où il pourra commencer à transmettre des images de la zone à observer. L’utilisation d’un système hybride projectile/minidrone a deux principaux avantages : cela permet d’augmenter l’autonomie du drone, et les premières images de la zone d’intérêt sont obtenues très rapidement. Au cours de cette thèse, nous nous sommes intéressés à la phase de transition, passer d’un projectile à un mini hélicoptère. Un modèle aérodynamique détaillé du GLMAV a été obtenu sur toute son enveloppe de vol. En prenant en compte les difficultés rencontrées lors de la phase de transition (perturbations des capteurs dues à l’accélération de 2500g au lancement, conditions initiales variables), nous avons développé une stratégie de commande, et une loi de commande en vitesse basée sur la technique du backstepping. Cette stratégie de commande a été validée en simulation. La loi de commande en orientation a été validée sur le prototype du GLMAV. Des travaux sur le flux optique, pour obtenir les vitesses latérales, ont été commencés. / The motivation that initiated the ANR research project "Démonstrateur Gun Launched Micro Air Vehicle" is the need to have a portable system which would permi tto quickly obtain images of an zone of interest placed at some hundred of meters, with the possibility to observe inside buildings either by their windows or by going inside them.To answer this need, the French-German Research Institute of St Louis got the idea o fusing a gun launched rotorcraft-MAV. The GLMAV, in its projectile form, is launched from a portable launching tube to a distance of 500m and a height of 100m, where it will collect and transmit visual information from the scene. The use of a projectile/rotorcraft-MAV hybrid system has two main advantages : it allows extending the MAV range,and the first images of the interest zone are obtained very quickly. During this PhD, we studied the transition phase, the passage from a projectile to a rotorcraft-MAV. A detailed aerodynamic model of the GLMAV has been obtained over his whole flight envelope. Taking into account the difficulties encountered during the transition phase (perturbation of the sensors caused by the 2500g acceleration at the launch, varying initial conditions),we developed a control strategy, and a velocity control law based on the backstepping methodology. This control strategy has been validated in simulation. The attitude control law has been validated on the GLMAV prototype. Studies on optical flow, to obtain the lateral velocities of the GLMAV, have been started.

Urban stormwater runoff is both an environmental threat and a valuable water resource. This dissertation explores the use of two stormwater management strategies, namely green stormwater infrastructure and stormwater real-time control (RTC), for capturing and treating urban stormwater runoff. Chapter 2 focuses on clean bed filtration theory and its application to fecal indicator bacteria removal in experimental laboratory-scale biofilters. This analysis is a significant step forward in our understanding of how physicochemical theories can be melded with hydrology, engineering design, and ecology to improve the water quality benefits of green infrastructure. Chapter 3 focuses on the novel application of unsteady transit time distribution (TTD) theory to solute transport in a field-scale biofilter. TTD theory closely reproduces experimental bromide breakthrough concentrations, provided that lateral exchange with the surrounding soil is accounted for. TTD theory also provides insight into how changing distributions of water age in biofilter storage and outflow affect key stormwater management endpoints, such as biofilter pollutant treatment credit. Chapter 4 focuses on stormwater RTC and its potential for improving runoff capture and water supply in areas with Mediterranean climates. We find that the addition of RTC increases the percent of runoff captured, but does not increase the percent of water demand satisfied. Our results suggest that stormwater RTC systems need to be implemented in conjunction with context-specific solutions (such as spreading basins for groundwater recharge) to reliably augment urban water supply in areas with uneven precipitation. Through a combination of modeling and experimental studies at a range of scales, this dissertation lays the foundation for future integration of TTD theory with RTC to improve regional stormwater management. / Doctor of Philosophy / Urban stormwater runoff contains a variety of pollutants. Conventional storm drain systems are designed to move stormwater as quickly as possible away from cities, delivering polluted runoff to local streams, rivers, and the coastal ocean – and discarding a valuable freshwater resource. By contrast, green stormwater infrastructure captures and retains stormwater as close as possible to where the rain falls. Green stormwater infrastructure can also help remove pollutants from stormwater through physical, chemical, and biological treatment processes. This dissertation describes two modeling approaches for understanding and predicting pollutant removal processes in green stormwater infrastructure (Chapters 2 and 3). Chapter 4 explores the implementation of smart stormwater systems, which use automated controllers and sensors to adaptively address stormwater management challenges. Through a combination of modeling and experimental studies at a range of scales, this dissertation lays the foundation for future improvements to regional stormwater management.

No description available.

Robotics has been the subject of academic study from as early as 1948. For much of this time, study has focused on very specific applications in very well controlled environments. For example, the first commercial robots (1961) were introduced in order to improve the efficiency of production lines. The tasks undertaken by these robots were simple, and all that was required of a control algorithm was speed, repetitiveness and reliability in these environments. Now however, robots are being used to move around autonomously in increasingly unpredictable environments, and the need for robotic control algorithms that can successfully react to such conditions is ever increasing. In addition to this there is an ever-increasing array of robots available, the control algorithms for which are often incompatible. This can result in extensive redesign and large sections of code being re-written for use on different architectures. The thesis presented here is that a new generic approach can be created that provides robust high quality smooth paths and time-optimal path tracking to substantially increase applicability and efficiency of autonomous motion plans. The control system developed to support this thesis is capable of producing high quality smooth paths, and following these paths to a high level of accuracy in a robust and near time-optimal manner. The system can control a variety of robots in environments that contain 2D obstacles of various shapes and sizes. The system is also resilient to sensor error, spatial drift, and wheel-slip. In achieving the above, this system provides previously unavailable functionality by generically creating and tracking high quality paths so that only minor and clear adjustments are required between different robots and also be being capable of operating in environments that contain high levels of perturbation. The system is comprised of five separate novel component algorithms in order to cater for five different motion challenges facing modern robots. Each algorithm provides guaranteed functionality that has previously been unavailable in respect to its challenges. The challenges are: high quality smooth movement to reach n-dimensional goals in regions without obstacles, the navigation of 2D obstacles with guaranteed completeness, high quality smooth movement for ground robots carrying out 2D obstacle navigation, near time-optimal path tracking, and finally, effective wheel-slip detection and compensation. In meeting these challenges the algorithms have tackled adherence to non-holonomic constraints, applicability to a wide range of robots and tasks, fast real-time creation of paths and controls, sensor error compensation, and compensation for perturbation. This thesis presents each of the above algorithms individually. It is shown that existing methods are unable to produce the results provided by this thesis, before detailing the operation of each algorithm. The methodology employed is varied in accordance with each of the five core challenges. However, a common element of methodology throughout the thesis is that of gradient descent within a new type of potential field, which is dynamic and capable of the simultaneous creation of high-quality paths and the controls required to execute them. By relating global to local considerations through subgoals, this methodology (combined with other elements) is shown to be fully capable of achieving the aims of the thesis. It is concluded that the produced system represents a novel and significant contribution as there is no other system (to the author’s knowledge) that provides all of the functionality given. For each component algorithm there are many control systems that provide one or more of its features, but none that are capable of all of the features. Applications for this work are wide ranging as it is comprised of five component algorithms each applicable in their own right. For example, high quality smooth paths may be created and followed in any dimensionality of space if time optimality and obstacle avoidance are not required. Broadly speaking, and in summary, applications are to ground-based robotics in the areas of smooth path planning, time optimal travel, and compensation for unpredictable perturbation.

A opção por sistemas biológicos prevalece para o tratamento do esgoto sanitário. Nas décadas recentes, sistemas que possuem regiões e/ou zonas anaeróbia, anóxica e aeróbia têm-se mostrado como alternativas atraentes para remoção simultânea de matéria orgânica, nitrogênio e fósforo. No entanto, os aspectos operacionais ainda merecem ser objeto de estudo para alcançar desempenho otimizado. Nesse cenário, com intuito de comparar alternativas para a operação das unidades de tratamento de esgoto, o presente trabalho propôs-se a estudar estratégias operacionais associadas ao monitoramento, em tempo real, sem adição de fonte externa de carbono, para um reator aerado não compartimentado com crescimento suspenso e fluxo contínuo precedido de reator anaeróbio. O sistema experimental, em escala de bancada, era constituído de um reator anaeróbio, com volume útil de 43,54 L, e reator aerado, com volume útil de 68,07 L; sendo que este era formado por sete setores, em série, sem separação física. O estudo foi dividido em duas etapas: I - estudo da variação dos volumes da região aerada e da não aerada; II - estudo da aeração intermitente com ciclo de aeração/agitação pré-fixado e controlado em tempo real por sistema informatizado. Em todas as Etapas do estudo ocorreu elevada remoção de DBO e conversão de NTK para nitrato, contudo não se conseguiu obter desnitrificação em nível desejado. O uso de reatores com setores sequenciais sem divisão física (Etapa I) dificultou a obtenção de regiões distintas predominantemente anóxica e aeróbia, comprometendo a remoção de nitrogênio (principalmente a desnitrificação). A maior eficiência média de remoção de nitrogênio alcançada no reator aerado foi de 35,6% (Etapa II), quando o reator era operado com aeração intermitente sendo o ciclo de aeração/agitação controlado em tempo real. A estratégia de operação com aeração intermitente, estudada na Etapa II, favoreceu a remoção de nitrogênio. A aeração intermitente demonstrou ser uma opção promissora comparada à aeração contínua em setores específicos do reator. O controle automatizado e informatizado em tempo real dos ciclos de aeração/agitação pode ser aplicado no aperfeiçoamento da operação dos sistemas de tratamento de esgoto sanitário. / The option of biological systems prevails for the treatment of sewage waste and in recent decades, systems that have anaerobic, anoxic, aerobic regions and / or zones have proven attractive for simultaneous removal of organic matter, nitrogen and phosphorus. However, the operational aspects still deserve to be studied in order to achieve the optimized performance of these systems. In this scenario, in order to compare alternatives for the operation of sewage treatment plants, the present work aimed to study operational strategies associated with monitoring, in real time, without the addition of external carbon source, for a non-compartmentalized aerated reactor with growth suspended and continuous flow preceded by anaerobic reactor. The experimental system in bench scale consisted of an anaerobic reactor, with a volume of 43.54 L and an aerated reactor, with a volume of 68.07 L; consisting of seven sectors, in series, without physical separation. The study was divided into two stages: I - study of the variation of the volume of the aerated and non-aerated regions; II - study of intermittent aeration with cycle of aeration/agitation controlled by a pre-fixed time interval; and controlled in real time by a computerized system. In all Stages of the study high BOD removal and conversion of TKN to nitrate occurred, but were unable to obtain denitrification at desired level. The use of reactors with sequential sectors without physical division (Stage I) made it difficult to obtain predominantly distinct anoxic and aerobic regions, compromising the removal of nitrogen (mainly the denitrification). The highest average removal efficiency of nitrogen attained in aerated reactor was 35.6% when the reactor was operated with intermittent aeration with aeration cycle controlled in real time. The operation strategy with intermittent aeration, studied in Stage II, favored the removal of nitrogen. The intermittent aeration proved to be a promising option compared to continuous aeration in specific sectors of the reactor. The automated and computerized control in real-time of the aeration / agitation cycles can be applied in improving the operation of sewage waste treatment systems.

The objective of this thesis is to design a relative navigation and guidance system for unmanned aerial vehicles (UAVs) for vision-based control applications. The vision-based navigation, guidance and control has been one of the most focused on research topics for the automation of UAVs. This is because in nature, birds and insects use vision as the exclusive sensor for object detection and navigation. In particular, this thesis studies the monocular vision-based navigation and guidance. Since 2-D vision-based measurements are nonlinear with respect to the 3-D relative states, an extended Kalman filter (EKF) is applied in the navigation system design. The EKF-based navigation system is integrated with a real-time image processing algorithm and is tested in simulations and flight tests. The first closed-loop vision-based formation flight has been achieved. In addition, vision-based 3-D terrain recovery was performed in simulations. A vision-based obstacle avoidance problem is specially addressed in this thesis. A navigation and guidance system is designed for a UAV to achieve a mission of waypoint tracking while avoiding unforeseen stationary obstacles by using vision information. A 3-D collision criterion is established by using a collision-cone approach. A minimum-effort guidance (MEG) law is applied for a guidance design, and it is shown that the control effort can be reduced by using the MEG-based guidance instead of a conventional guidance law. The system is evaluated in a 6 DoF flight simulation and also in a flight test. For monocular vision-based control problems, vision-based estimation performance highly depends on the relative motion of the vehicle with respect to the target. Therefore, this thesis aims to derive an optimal guidance law to achieve a given mission under the condition of using the EKF-based relative navigation. Stochastic optimization is formulated to minimize the expected cost including the guidance error and the control effort. A suboptimal guidance law is derived based on an idea of the one-step-ahead (OSA) optimization. Simulation results show that the suggested guidance law significantly improves the guidance performance. Furthermore, the OSA optimization is generalized as the n-step-ahead optimization for an arbitrary number of n, and their optimality and computational cost are investigated.

Thesis (MScEng)--Stellenbosch University, 2013. / ENGLISH ABSTRACT: Developed countries have led the way in the implementation of Intelligent Transport Systems (ITS), with the main objectives of improving road safety and efficiency. Current ITS solutions are heavily dependent on advanced and expensive technologies, and do not necessarily meet the unique requirements of public transportation in Sub-Saharan Africa (SSA). The informal minibus taxi sector dominates public transport in SSA in general, and in South Africa in particular, and is notoriously dangerous – leading to many fatalities annually. This work presents the design and testing of a sensing and reporting system for public transport in SSA. The system contributes to improving the safety and efficiency of minibus taxis in SSA. The system provides three core functions, namely, reckless driving detection, multiple occupancy detection, and wireless reporting to a visualised online platform. The reckless driving detection system implements a novel model that augments inertial vehicle acceleration data with GPS speed information. The model is based on standards used in road design, and takes into account the relationship between a vehicle’s tyres and the road surface. A lateral acceleration threshold, which is speed dependant, and a longitudinal acceleration threshold are suggested to detect reckless driving. Acceleration data is filtered to remove both high-frequency noise and zero-frequency offset, and compared to the thresholds to detect reckless driving events. The occupancy detection system detects multiple occupants in the minibus taxi using low-cost capacitive sensor electrodes, which utilise the electrical field properties of a human body for presence detection. A simplified mathematical model was created to calculate the expected capacitance on the occupancy sensor electrode, and was compared to the measured capacitance in the minibus taxi. The theoretical and empirical results demonstrate that the capacitance of an occupied seat is more than double that of an unoccupied seat. Occupants were clearly detected in various scenarios, such as different occupant sizes, water on seat, various seated positions on the sensor, etc. The wireless reporting inside the vehicle is implemented using a ZigBee network on an Arduino platform. The extra-vehicle wireless reporting uses the existing SSA cellular network, and the online data visualisation is implemented on Trinity Telecoms’ SMART platform. The complete sensing and reporting system is implemented as a prototype, and tested in South African and Ugandan minibus taxis. The results demonstrate that the system achieves the set goals, and could be used to make transport in SSA safer and more efficient. / AFRIKAANSE OPSOMMING: Ontwikkelde lande neem die voortou met die implementering van Intelligente Vervoer Stelsels (IVS) met die hoof doelwit om padveiligheid en vervoerstelsels se effektiwiteit te verbeter. Huidige stelsels wat ontwikkel is vir IVS is baie afhanklik van duur en gevorderde tegnologieë en bevredig dus nie die huidige vereistes binne die openbare vervoer stelsel van Sub-Sahara Afrika (SSA) nie. Die minibus taxi sektor domineer die openbare vervoer stelsel in SSA en meer spesifiek in Suid-Afrika, en daar is jaarliks duisende ongelukke waarvan baie tot sterftes lei. In hierdie werkstuk word daar ’n stelsel voorgestel wat minibus taxi’s in SSA kan monitor. Die doel van die stelsel is om die openbare vervoerstelsel se effektiwiteit en padveiligheid te verbeter. Die stelsel bestaan uit: roekelose bestuur opsporing, veelvoudigepassasier waarneming (monitor van aantal passasiers in voertuig) en network verslagdoening na ’n aanlyn platform. ’n Nuwe model is ontwikkel om roekelose bestuur op te spoor – deur die voertuig se versnelling en spoed te kombineer in berekenings. Die model se berekenings is ook gebasseer op die verwantskap tussen die voertuig se bande en die padoppervlak. Roekelose bestuur word bespeur deur ’n laterale en longitudinale drempel wat spoed afhanklik is. Versnellingsdata word gefilter om hoë-frekwensie geraas en nul-frekwensie afwykings te verwyder. Gefilterde data word dan met die gepaste drempel vergelyk om te bepaal of die bestuurder ’n roekelose beweging uitgevoer het. Die veelvoudige-passasier waarnemingstelsel is getoets in ’n minibus taxi en bestaan uit ’n lae-koste kapasitiewe sensor stelsel. Die stelsel meet ’n passasier se liggaamlike elektriese lading. ’n Wiskundige uitrukking van die kapasitiewe sensor stelsel is bepaal wat ’n teoretiese kapasitansie waarde gee. Dié waarde is met die gemete kapasitansie op die sensor elektrode vergelyk. Die resultate bevestig dat die ontwikkelde stelsels duidelik ’n sittende passasier kan identifiseer. Verskeie toetse is gedoen om te verseker dat die kapasitiewe stelsel gepas is vir die heterogene minibus taxi omgewing. Draadlose verslagdoening word binne die voertuig uitgevoer met behulp van ’n ZigBee netwerk wat geïmplementeer is op ’n Arduino platform. Die buite-voertuig verslagdoening stelsel gebruik bestaande sellulêre kommunikasie netwerke en die inligting word dan op Trinity Telecoms’ SMART platform visueel vertoon. Die volledige ontwikkelde stelsel is as ’n prototipe geïmplementeer en getoets in Suid-Afrikaanse en Ugandese minibus taxi’s. Die resultate toon aan dat die stelsel die doelwitte bereik en dat dit gebruik kan word om die vervoer stelsel in Suid Afrika veiliger en meer doeltreffend te maak.