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Wong, Sheung Man. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2010. / Includes bibliographical references (leaves 63-64). / Abstracts in English and Chinese. / Abstract --- p.i / 摘要 --- p.iii / Acknowledgements --- p.iv / List of figures --- p.V / Chapter Chapter 1 --- Introduction --- p.1 / Chapter 1.1. --- Segway Personal Transporter (PT) --- p.1 / Chapter 1.2. --- Existing research using Segway Robotic Mobility Platform´ёØ (RMP) --- p.3 / Chapter 1.3. --- The ICSL Segway Rider --- p.9 / Chapter 1.4. --- Thesis outlines --- p.10 / Chapter Chapter 2 --- ICSL Segway Rider --- p.11 / Chapter 2.1. --- Design concept --- p.11 / Chapter 2.2. --- Design overview --- p.12 / Chapter 2.3. --- Actuating components --- p.14 / Chapter 2.4. --- Electronic and sensing components --- p.24 / Chapter 2.5. --- Software development of Segway Rider --- p.28 / Chapter 2.6. --- Chapter summary --- p.31 / Chapter Chapter 3 --- The grand challenge --- p.32 / Chapter 3.1. --- Objective --- p.32 / Chapter 3.2. --- Experiment --- p.33 / Chapter 3.3. --- Running lane tracking by computer vision --- p.34 / Chapter 3.3.1. --- Color space conversion --- p.36 / Chapter 3.3.2. --- Apply binary threshold --- p.37 / Chapter 3.3.3. --- Edge detection --- p.41 / Chapter 3.3.4. --- Hough transform --- p.46 / Chapter 3.3.5. --- Line analysis --- p.49 / Chapter 3.4. --- Chapter summary --- p.51 / Chapter Chapter 4 --- Stand and stay --- p.52 / Chapter 4.1. --- Introduction --- p.52 / Chapter 4.2. --- Box matching method --- p.53 / Chapter 4.3. --- Image processing steps --- p.55 / Chapter 4.4. --- Experiment --- p.58 / Chapter 4.5. --- Chapter summary --- p.60 / Chapter Chapter 5 --- Conclusion and future works --- p.61 / Chapter 5.1. --- Contributions --- p.61 / Chapter 5.2. --- Future works --- p.62 / Bibliography --- p.63

Cette thèse propose des contributions sur la commande événementielle pour des réseaux modélisés par une classe des systèmes de dimension infinie. Premièrement nous nous focalisons sur la modélisation et contrôle frontière des réseaux qui sont décrits par des systèmes hyperboliques de lois de conservation. En nous inspirant de modèles macroscopiques dans le cadre des réseaux de communications, nous traitons des systèmes couplés EDP-EDO, dont les noeuds (les serveurs) sont modélisés par des EDO non-linéaires alors que des lignes de transmission sont décrites par des systèmes hyperboliques lorsque des retards peuvent être pris en compte. Pour le système linéarisé resultant, autour d'un point d'équilibre optimal, on effectue aussi bien une analyse de stabilité "Input-to-state stable" que de la synthèse du contrôle pour le gain asymptotique grâce à une analyse de fonction de Lyapunov et une formulation LMI.Ensuite, nous considérons des aspects théoriques de la commande évènementielle aux frontières pour les systèmes hyperboliques. D'un côté, avec cette stratégie de contrôle, nous ciblons la réduction de la consommation d' énergie en traitant les contraintes de communication et de calcul. D' autre part, nous utilisons cette stratégie comme une manière rigoureuse pour échantillonner temporellement lorsqu' on a besoin de mettre en oeuvre les contrôleurs continus sur une plateforme numérique. Une étude mathématique sur l'existence et l' unicité des solutions ainsi que sur les aspects de stabilité est réalisée. / This thesis provides contributions on event-based control of networks model by a class of infinite dimensional systems. We first focus on the modeling and boundary control of networks described by hyperbolic systems of conservation laws. Highly inspired by macroscopic models in communication networks, we deal with a coupled PDE-ODE, where the nodes (servers) are modeled by nonlinear ODEs whereas transmission lines are described by hyperbolic equations when communication delays may be taken into account. For the resulting linearized system around an optimal equilibrium point, Input-to state stability (ISS) analysis as well as asymptotic gain control synthesis are carried out by means of Lyapunov techniques and LMI formulation.We then address some theoretical aspects of event-based boundary control of hyperbolic systems. One one hand, with this computer control strategy, we intend to reduce energy consumption when dealing with communication and computational constraints. On the other hand, we use this strategy as a rigorous way of sampling in time when implementation of continuous time controllers on a digital platform is required. A mathematical study regarding well-posedness of the solutions as well as stability issues is conducted.

<p> The analysis of stepping motors using linear models has been simplified through identifications of the constants. Though the existing nonlinear models assuming a smooth air-gap machine may, in some cases, yield a fairly close prediction of the characteristics of a stepping motor, the models do not represent the actual motors which are essentially salient-pole motors. A new salient-pole nonlinear model is introduced. The analysis of permanent-magnet stepping motors using the nonlinear models has been simplified by assuming constant current sources. Dynamic behaviors of a permanent -magnet stepping motor are shown by phase-plane plots and step by step transient response plots.</p> <p> Computer control of stepping motors in both open-loop and closed-loop is discussed. The open-loop control has been demonstrated to be successful and a closed-loop control system using light-sensors as feedback has been designed.</p> / Thesis / Master of Engineering (MEngr)

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