Nonlinear systems occur in industrial processes, economical systems, biotechnology and in many other areas. The thesis treats methods for system identification and control of such nonlinear systems, and applies the proposed methods to a solar heating/cooling plant. Two applications, an anaerobic digestion process and a domestic solar heating system are first used to illustrate properties of an existing nonlinear recursive prediction error identification algorithm. In both cases, the accuracy of the obtained nonlinear black-box models are comparable to the results of application specific grey-box models. Next a convergence analysis is performed, where conditions for convergence are formulated. The results, together with the examples, indicate the need of a method for providing initial parameters for the nonlinear prediction error algorithm. Such a method is then suggested and shown to increase the usefulness of the prediction error algorithm, significantly decreasing the risk for convergence to suboptimal minimum points. Next, the thesis treats model based control of systems with input signal dependent time delays. The approach taken is to develop a controller for systems with constant time delays, and embed it by input signal dependent resampling; the resampling acting as an interface between the system and the controller. Finally a solar collector field for combined cooling and heating of office buildings is used to illustrate the system identification and control strategies discussed earlier in the thesis, the control objective being to control the solar collector output temperature. The system has nonlinear dynamic behavior and large flow dependent time delays. The simulated evaluation using measured disturbances confirm that the controller works as intended. A significant reduction of the impact of variations in solar radiation on the collector outlet temperature is achieved, though the limited control range of the system itself prevents full exploitation of the proposed feedforward control. The methods and results contribute to a better utilization of solar power.

The presence of vibration is an important problem in many engineering applications. Various passive techniques have traditionally been used in order to reduce waves and vibrations, and their harmful effects. Passive techniques are, however, difficult to apply in the low frequency region. In addition, the use of passive techniques often involve adding mass to the system, which is undesirable in many applications. As an alternative, active techniques can be used to manipulate system dynamics and to control the propagation of waves and vibrations. This thesis deals with modeling, estimation and active control of systems that have resonant dynamics. The systems are exposed to stochastic disturbances. Some of them excite the system and generate vibrational responses and other corrupt measured signals. Feedback control of a beam with attached piezoelectrical elements is studied. A detailed modeling approach is described and system identification techniques are employed for model order reduction. Disturbance attenuation of a non-measured variable shows to be difficult. This issue is further analyzed and the problems are shown to depend on fundamental design limitations. Feedforward control of traveling waves is also considered. A device with properties analogous to those of an electrical diode is introduced. An `ideal´ feedforward controller based on the mechanical properties of the system is derived. It has, however, poor noise rejection properties and it therefore needs to be modified. A number of feedforward controllers that treat the measurement noise in a statistically sound way are derived. Separation of overlapping traveling waves is another topic under investigation. This operation also is sensitive to measurement noise. The problem is thoroughly analyzed and Kalman filtering techniques are employed to derive wave estimators with high statistical performance. Finally, a nonlinear regression problem with close connections to unbalance estimation of rotating machinery is treated. Different estimation techniques are derived and analyzed with respect to their statistical accuracy. The estimators are evaluated using the example of separator balancing.

This dissertation is aimed at examining signal integrity degradation factors and realizing signal integrity enhancement circuits for both wired and wireless communication systems. For wired communication systems, an optical coherent system employing an electrical equalization circuit is studied as a way of extending the transmission distance limited by optical fiber dispersion mechanisms. System simulation of the optical coherent receiver combined with the feed-forward equalizers is performed to determine the design specification of the equalizer circuit. The equalization circuit is designed and implemented in a 0.18 µm complementary metal-oxide semiconductor (CMOS) process and demonstrates the capability to extend the transmission reach of long-haul optical systems over single-mode fiber to 600 km. Additionally, for wireless applications, signal integrity issues found in a full-duplex wireless communication network are examined. Full-duplex wireless systems are subject to interference from their own transmitter leakage signals; thus, a transmitter leakage cancellation circuit is designed and implemented in a 0.18 µm CMOS technology. The proposed cancellation circuit is integrated with a low-noise amplifier and demonstrates over 20 dB of transmitter leakage signal suppression.

Die Arbeit befasst sich mit der Entwicklung automatischer Lenkungen, die die von Schienenfahrzeugen bekannte Spurtreue auf n-gliedrige, mehrachsgelenkte Straßenfahrzeuge übertragen. Spurtreu bedeutet folglich, dass die Lenkachsmittelpunkte keinen seitlichen Versatz zueinander aufweisen. Dafür wird ein modellbasiertes automatisches Lenkverfahren systematisch konzipiert, entworfen und erprobt, das sowohl eine vollautomatische Spurführung als auch eine halbautomatische Nachführung erlaubt. Die modellbasierten automatischen Lenkungen unterliegen keinen praktisch relevanten Einschränkungen. Das wird durch die Verwendung einer Steuerungsstruktur mit zwei Freiheitsgraden erreicht, die aus einer modellbasierten Vorsteuerung und einem Rückführregler besteht. In der Vorsteuerung werden die Lenkwinkel aller Achsen berechnet, mit denen der Sollweg theoretisch spurtreu befahren wird. Durch den Einsatz eines speziell angepassten, modularen Mehrkörpermodells gelingt diese Berechnung allgemein für eine Klasse n-gliedriger Fahrzeuge. Zum Ausgleich von nicht vermeidbaren Modellunbestimmtheiten und nicht gemessenen Störungen werden ein nichtlinearer Mehrgrößenregler sowie achs-individuelle lineare Eingrößenregler entworfen und miteinander verglichen. Simulationen und Fahrversuche zeigen, dass das entwickelte Verfahren in einem weiten Geschwindigkeitsbereich robust gegenüber typischen Einflussgrößen wie Fahrbahn- und Beladungszustand ist.

Visual cues have previously been classified as visual exproprioceptive, when defining the relative position of the body within the environment and are continuously updated while moving (online), and visual exteroceptive when describing static features of the environment which are typically elaborated offline (feedforward). However peripheral visual cues involved in the control of movement have not previously been clearly defined using this classification. Hence the role played by peripheral visual cues in the planning and/or online control of movement remains unclear. The aim of this thesis was to provide a systematic understanding of the importance of peripheral visual cues in several types of movement, namely overground locomotion, adaptive gait, postural stability and reaching and grasping. 3D motion capture techniques were used to collect limb and whole body kinematics during such movements. Visual peripheral cues were manipulated by visual field occlusion conditions or by the employment of point-lights in a dark room. Results showed that the visual cues provided by different parts of the peripheral visual field are mainly used for online fine tuning of limb trajectory towards a target (either a floor-based obstacle or an object to grasp). The absence of peripheral visual cues while moving disrupted the spatio-temporal dynamic relationship between subject and target and resulted in increased margins of safety between body and target and increased time and variability of several dependent measures. These findings argue in favour of the classification of peripheral visual cues as visual exproprioceptive.

Pagrindinis darbo tikslas – atlikti kelių tiesioginio sklidimo neuroninių tinklų sistemų lyginamąją analizę siekiant įvertinti jų funkcionalumą. Šiame darbe apžvelgiama: biologinio ir dirbtinio neuronų modeliai, neuroninių tinklų klasifikacija pagal jungimo konstrukciją (tiesioginio sklidimo ir rekurentiniai neuroniniai tinklai), dirbtinių neuroninių tinklų mokymo strategijos (mokymas su mokytoju, mokymas be mokytojo, hibridinis mokymas). Analizuojami pagrindiniai tiesioginio sklidimo neuroninių tinklų metodai: vienasluoksnis perceptronas, daugiasluoksnis perceptronas realizuotas „klaidos skleidimo atgal” algoritmu, radialinių bazinių funkcijų neuroninis tinklas. Buvo nagrinėjama 14 skirtingų tiesioginio sklidimo neuroninių tinklų sistemos. Programos buvo suklasifikuotos pagal kainą, tiesioginio sklidimo neuroninių tinklo mokymo metodų taikymą, galimybę vartotojui keisti parametrus prieš apmokant tinklą ir techninį programos įvertinimą. Programos buvo įvertintos dešimtbalėje vertinimo sistemoje pagal mokymo metodų įvairumą, parametrų keitimo galimybes, programos stabilumą, kokybę, bei kainos ir kokybės santykį. Aukščiausiu balu įvertinta „Matlab” programa (10 balų), o prasčiausiai – „Sharky NN” (2 balai). Detalesnei analizei pasirinktos keturios programos („Matlab“, „DTREG“, „PathFinder“, „Cortex“), kurios buvo įvertintos aukščiausiais balais, galėjo apmokyti tiesioginio sklidimo neuroninį tinklą daugiasluoksnio perceptrono metodu ir bent dvi radialinių bazinių funkcijų... [toliau žr. visą tekstą] / The main aim – to perform a comparative analysis of several feedforward neural system networks in order to identify its functionality. The work presents both: biological and artificial neural models, also classification of neural networks, according to connections’ construction (of feedforward and recurrent neural networks), studying strategies of artificial neural networks (with a trainer, without a trainer, hybrid). The main methods of feedforward neural networks: one-layer perceptron, multilayer perceptron, implemented upon “error feedback” algorithm, also a neural network of radial base functions have been considered. The work has included 14 different feedforward neural system networks, classified according its price, application of study methods of feedforward neural networks, also a customer’s possibility to change parameters before paying for the network and a technical evaluation of a program. The programs have been evaluated from 1 point to 10 points according to the following: variety of training systems, possibility to change parameters, stability, quality and ratio of price and quality. The highest evaluation has been awarded to “Matlab” (10 points), the lowest – to “Sharky NN” (2 points). Four programs (”Matlab“, “DTREG“, “PathFinder“,”Cortex“) have been selected for a detail analysis. The best evaluated programs have been able to train feedforward neural networks using multilayer perceptron method, also at least two radial base function networks. “Matlab“ and... [to full text]

Humans perform complex sensorimotor tasks, such as walking on uneven terrain, in a seemingly effortless manner. However, even simple voluntary tasks, like lifting the arm to shake hands, require intricate adjustments to maintain balance. With experience, humans learn to produce the appropriate patterns of muscle activity necessary to maintain balance during everyday activities, as well as highly specialized motor tasks. Here, I investigated the neural feedback mechanisms controlling the formation of the muscle activity used during balance tasks. I hypothesized that humans use feedback from on-going balance perturbations to establish their muscular responses. Specifically, I investigated center-of-mass (CoM) kinematics as a control signal for the formation of these muscle activation patterns. Using an inverted pendulum model under delayed feedback control, I both reconstructed the temporal EMG patterns measured during experimental perturbations and predicted the optimal EMG patterns for responding to the same perturbations. By modulating four feedback parameters, this feedback law accounted for 91% of the variability in all experimentally-recorded EMG patterns - regardless of the mechanical action of the muscle or the response strategy chosen by the subject. To investigate the changes in postural control during motor learning, I used this feedback model to characterize responses while naïve subjects adapted to repetitive unidirectional and reversing perturbations. By adjusting feedback gains related to CoM velocity and displacement, subjects adapted their muscle activity to improve control over the CoM for both perturbation types. Though subjects were unable to use anticipatory strategies to reduce muscle onset latency or to mute inappropriate responses to reversing perturbations, more subtle feedforward adjustments to feedback-mediated postural responses were evident. With experience, subjects adapted their postural responses toward the optimal solution. The results of this work, when combined with on-going studies of muscle synergies, will provide a powerful tool for investigating the consequences that result from the changes in spatiotemporal muscle activity associated with aging, neurological dysfunction, musculoskeletal injury, and specialized training programs. This quantitative knowledge is critical to the development of diagnostic tools for balance and movement disorders, as well as for the design of effective interventional therapies, bipedal robots, and neural prostheses.

Thesis (M.Sc.)--University of Alberta, 2010. / A thesis submitted to the Faculty of Graduate Studies and Research in partial fulfillment of the requirements for the degree of Master of Science in Rehabilitation Science, Faculty of Rehabilitation Medicine. Title from pdf file main screen (viewed on February 16, 2010). Includes bibliographical references.

Physics / M. Sc. (Physics)

In this thesis, a combined feedforward and feedback controller for improved path tracking on autonomous heavy-duty vehicles is designed and implemented. The steering wheel is controlled in order to follow a reference curvature, computed by a higher-level MPC, responsible for minimizing the distance to a planned path. The steering dynamics, from steering wheel via wheel angles, to a measurable vehicle curvature, is modeled, and a conversion from desired curvature gain to input angle to the steering wheel is derived. Tests with an autonomous Scania R580 show that the desired curvature can be followed with satisfactory small error, both in a designed slalom path and on a more generic test track. By utilizing future curvature values computed by the MPC, a non-causal feedforward controller can reduce the delay from input to the steering wheel to a measured response in curvature, by almost two thirds, compared to the currently implemented solution. Compared to an open-loop control design, tests in simulation show that a feedback controller can reduce errors in curvature gain. However, with the identified steering dynamics and the improved conversion from steering wheel angle to curvature, no further improvement in the curvature gain was seen when implementing the feedback controller in the test vehicle. Care must also be taken not to introduce instability in the system when the feedback controller is implemented in series with a high-level MPC. / Den här rapporten beskriver design och implementering av en regulator med kombinerad framkoppling och återkoppling för förbättrad banföljning av autonoma tunga fordon. Fordonets ratt styrs för att följa en kurvaturreferens beräknad av en överordnad MPC, ansvarig för att minimera avståndet till en planerad bana. Dynamiken i styrningen, från ratten via hjulvinklarna till en mätbar kurvatur för fordonet, är modellerad. En översättning från önskad förstärkning av kurvatur till insignal för rattvinkeln är också framtagen. Tester utförda med en autonom Scania R580 visar att den önskade kurvaturen kan följas med tillfredsställande litet fel, både i en egendesignad slalombana och i en mer generisk testbana. Genom att utnyttja framtida referensvärden för kurvatur beräknade av MPC:n, kan en icke-kausal framkopplande regulator minska fördröjningen från insignal till ratten till en mätbar respons i fordonets kurvatur. Jämfört med den nuvarande lösningen minskas fördröjningen med nästan två tredjedelar. Jämfört med en öppen styrning visar tester i simulering att en återkoppling i regulatorn kan minska stationära fel i kurvatur. Med implementeringen av den identifierade styrdynamiken och den förbättrade översättningen från rattvinkel till kurvatur, syntes dock med återkoppling ingen ytterliggare förbättring i testfordonet. Implementering av den återkopplande regulatorn i serie med den överordnade MPC:n behöver också göras med omsorg för att inte introducera instabilitet i systemet.