M. Tech. Electrical Engineering. / The hypothesis states that a closed loop control system could be applied to a mechatronic system consisting of a mechanical device(s) to be fitted onto the user, and other relevant periphery mechanical devices, appropriately actuated to provide powered movement to assist the wheelchair-bound individual securely attain a standing position.The premise upon which the hypothesis was to be tested relates to the control system's ability to facilitate the upward movement proposed and its degree of stability when simulating the system, thus re-creating the anticipated functionality.

Phased array antenna (PAA) is a key component in many of the modern military and commercial radar and communication systems requiring highly directional beams with narrow beam widths. One of the advantages that this technology offers is a physical movement-free beam steering. Radar and communication technologies also require the PAA systems to be compact, light weight, demonstrate high bandwidth and electromagnetic interference (EMI) free performance. Conventional electrical phase shifters are inherently narrowband. This calls for technologies that have a larger bandwidth and high immunity to electromagnetic interference. Optical true-time-delay (TTD) technique is an emerging technology that is capable of providing these features along with the ability to provide frequency independent beam steering. Photonic crystal fiber (PCF) based optical TTD lines are capable of providing precise and continuous time delays required for PAA systems. Photonic crystal fibers are a new class of optical fibers with a periodic arrangement of air-holes around a core that can be designed to provide extraordinary optical characteristics which are unrealizable using conventional optical fibers. In this dissertation, highly dispersive photonic crystal fiber structures based on index-guidance and bandgap-guidance were designed. Designs exhibiting dispersion coefficients as large as -9500ps/nm/km and 4000ps/nm/km at 1550nm were presented. A TTD module utilizing a fabricated highly dispersive PCF with a dispersion coefficient of -600ps/nm/km at 1550nm was formed and characterized. The module consisted of 4 delay lines employing highly dispersive PCFs connected with various lengths of non-zero dispersion shifted fibers. By employing PCFs with enhanced dispersion coefficients, the TTD module size can be proportionally reduced. A 4-element linear X-band PAA system using the PCF-TTD module was formed and characterized to provide continuous time delays to steer radiofrequency (RF) beams from -41 degrees to 46 degrees by tuning the wavelength from 1530nm to 1560nm. Using the PCF-TTD based X-Band PAA system, single and simultaneous multiple beam transmission and reception capabilities were demonstrated. Noise and distortion performance characteristics of the entire PAA system were also evaluated and device control parameters were optimized to provide maximum spurious-free-dynamic range. In order to alleviate computational and weight requirements of practical large PAA systems, a sparse array instead of a standard array needs to be used. X-Band sparse array systems using PCF and dispersive fiber TTD technique were formed and RF beam steering was demonstrated. As an important achievement during the research work, the design and fabricated structure of a PCF currently reported to have the highest dispersion coefficient of -5400ps/nm/km at 1549nm, along with its limitations was also presented. Finally, other interesting applications of highly dispersive PCFs in the areas of pulse compression and soliton propagation were explored. / text

A distributed delay is a linear input-output operators and appears in many control problems. We investigate distributed delay and its applications. After introducing the definition and the main properties of the distributed delay, the numerical implementation problem of distributed delays is analyzed and a general method for its approximation is given. Then three applications are focused on where distributed delay appears. The first application is the stable inversion and model matching. A new class of stable inversion and model matching problem for finite dimensional linear time-invariant systems is defined. The stable inversion (resp. model matching) is an approximation of the inverse of a given model (resp. model matching), where exact inversion (resp. exact matching) is reached after a time $t=h$, which is a parameter of our procedure. The second application is concerned with stabilization and finite spectrum assignment for a class of infinite dimensional systems. The last application concerns observer synthesis for estimation or output control. For linear finite dimensional systems. A closed-loop memoryless observer by input injection is introduced. Asymptotic convergence as well as finite time convergence of the estimation are analyzed by output injection and input information via distributed delay. At last, we introduce a new class for approximation of distributed parameter systems. We work on the graph topology, and show that under some weak assumptions, such an approximation can be realized using distributed delay.

We are currently in an era of accountability, so the need for measuring fidelity of implementation is gaining attention. However, there is little research in the area of fidelity of implementation and an inclusive early childhood classroom. In addition, most of the research is conducted using teachers. This study examined the fidelity of implementation by two teaching assistants using the teaching strategies of time delay and system of least prompts with children with and without disabilities in an inclusive early childhood setting. A multiple-probe design with conditions across two behaviors and across two participants design was used to determine the effects of teaching assistants’ fidelity of implementation of evidence-based teaching strategies. Also a multiple probe across two behaviors, replicated across children was used. Most importantly, the results showed that teaching assistants could implement systematic teaching strategies with fidelity. Secondly, the children were able to make progress towards their target skills.

This thesis studies the design and implementation of an ultra-sonic water depth sounder. The depth sounder is implemented in a hand-held smart console used by divers. Since the idea of echo sounding is to measure the flight time between transmitting the signal and receiving the echo, the main challenge of this task is to find a time-of-flight (ToF) estimation for a signal in noise. It should be suitable for this specific application and robust when implemented in the device. The thesis contains an investigation of suitable ToF methods. More detailed evaluations of the matched filter, also known as the correlation method, and the linear phase approach are done. Aspects like pulse frequency and duration, speed of sound in water and underwater noise are taken into account. The ToF-methods are evaluated through simulation and experiments. The matched filter approach is found suitable based on these simulations and tests with signals recorded by the console. This verification leads to the implementation of the algorithm on the device. The algorithm is tested in real time, the results are evaluated and improvements suggested. / Denna rapport behandlar skattning av vattendjup med hjälp av ultraljudspulser och implementation av detta. Djupmätaren implementeras i en handhållen dykarkonsoll. Eftersom grundidén i ekolodning är att mäta tiden mellan att pulsen skickas iväg och att ekot tas emot är en stor del av utmaningen att hitta en lämplig metod för att skatta flykttiden för en signal i brus. Metoden ska passa för detta användingsområde och vara robust. Rapporten tar upp tidigare forskning gjord inom flykttidsestimering. De metoder som utvärderas för implementation är det matchade filtret, också kallad korrelationsmetoden, och linjär fas-metoden. Andra aspekter som avvägs och utreds är pulsfrekvens och pulsvaraktighet, ljudets hastighet och brus under vattnet. Metoderna för att skatta flykttid utvärderas genom simuleringar. Det matchade filtret bedöms vara lämpligt baserat på dessa simuleringar och experiment med data inspelad med konsollen. Denna verifikation leder till att algoritmen implementeras på konsollen. Den implementerade algoritmen testas i realtid, resultaten utvärderas och förbättringar föreslås.

Dentre os fatores limitantes dos sistemas de controle, o tempo morto está entre os mais críticos e de difícil detecção sem testes intrusivos. O conhecimento do seu valor é essencial para a identificação de modelos e na auditoria de desempenho de sistemas de controle. Em virtude disto, o presente trabalho propõe uma metodologia eficaz para estimá-lo utilizando apenas dados históricos de processo em malha fechada. A principal vantagem frente a técnicas disponíveis na literatura é a não necessidade de testes intrusivos. A metodologia é baseada em um tratamento de sinal para remoção dos efeitos do distúrbio não medido e dos erros de modelo. O tratamento de sinal consiste na minimização das oscilações do sinal erro em malha aberta suavizado como função do tempo morto. Diversas formulações de função objetivo e procedimentos de suavização foram estudados visando facilitar a estimação do parâmetro. A qualidade da metodologia é ilustrada através de simulações em uma série de cenários, os quais simulam processos lineares de diferentes características sob o efeito de distúrbios distintos. A metodologia também é testada frente a estudo de casos com dados reais de processo industrial em malhas de nível e temperatura. Os resultados são comparados com métodos da literatura e demonstram que o método proposto foi eficaz na estimação do tempo morto para a maioria dos casos. / Among the limiting factors of control systems, the pure time delay is one of the most critical and difficult to estimate without an intrusive perturbation. The knowledge of its value is essential for model identification and control loop performance assessment. This work proposes a methodology to determine dead time using ordinary closed loop operating data. The main advantage over available techniques is the non-necessity of intrusive plant tests. The proposed approach is based on a signal processing for removing the effects of the unmeasured disturbances and the model-plant mismatches. The signal processing consists of the minimization of the oscillations of the smoothing open loop error as a function of the pure time delay. Several objective function formulations and smoothing procedures were studied in order to facilitate parameter estimation. The quality of the methodology is illustrated by simulations in a series of scenarios, which simulate linear processes of different characteristics under the effect of different disturbances. The methodology is also tested in case studies with real industrial process data. Results are compared to literature approaches and show the method was effective to estimate the pure time delay for most cases.

Neste trabalho, aborda-se o problema de estabilização de sistemas lineares com atrasos nos estados e sujeitos a ação de atuadores saturantes. Em particular, são propostos métodos para a síntese de leis de controle estabilizantes do tipo realimentação de estados, realimentação dinâmica de saída, bem como para a síntese de compensadores de "anti-windup" estáticos e dinâmicos. Como objetivo de síntese consideram-se duas possibilidades, que o sistema esteja livre ou não de perturbações. No primeiro caso, determina-se uma lei de controle estabilizante de tal forma a maximizar um conjunto de condições iniciais admissíveis D. No caso do conjunto D ser dado, a lei de controle estabilizante que se determina, deve garantir estabilidade assintótica do sistema em malha-fechada para toda condição inicial pertencente a D. No segundo caso, considerando-se os problemas de atenuação e tolerância à perturbação, as leis de controle são obtidas com o intuito de minimizar o ganho-L2 entre a perturbação e a saída regulada do sistema ou de maximizar o limite superior da norma L2 das perturbações admissíveis, para as quais garante-se que as trajetórias do sistema em malha-fechada permaneçam limitadas. Condições locais e globais de estabilização são obtidas a partir da teoria de Lyapunov e da modelagem por zona-morta da saturação, com a conseqüente aplicação de uma condição de setor generalizada. Em se tratando de sistemas contínuos, para que as condições obtidas sejam dependentes do atraso, combinam-se estas ferramentas com a representação do sistema através de sistema descritor. Já no caso de sistemas discretos, combinam-se estas duas ferramentas com a utilização do Lema de Finsler. A utilização destas ferramentas possibilita que as condições obtidas sejam na forma de desigualdades matriciais lineares (LMI's) ou quase lineares, permitindo assim, a formulação de problemas de otimização convexos. / In this work, we deal with the problem of stabilization of linear systems with delayed state and saturating inputs. Specifically, methods are proposed for the synthesis of stabilizing control laws of state feedback and dynamic output feedback types, as well as for the synthesis of static and dynamic anti-windup compensators. Regarding synthesis objectives two possibilities were considered, that the system is free or not of disturbances. In the first case, the stabilizing control law is computed considering the maximization of the set of admissible initial conditions D. In the case the set D is given, this stabilizing control law should guarantee asymptotic stability of the closed-loop system. In the second case, considering the problems of tolerance and disturbance attenuation, the control laws are proposed in order to minimize the L2 gain between to disturbance and the regulated output of system, or in order to maximize the bound on the admissible disturbances for which the trajectories are bounded. Local and global conditions for stabilization are obtained from the theory of Lyapunov and the modeling of the saturation by means of deadzone nonlinearities and the consequent application of a modified sector condition. For continuous systems, in order to obtain delay dependent conditions, these tools are combined with descriptor approach. In the case of discrete-time systems, these two tools are combined with the utilization of Finsler's Lemma. The use of these leads to the conditions in the form of Linear Matrix Inequalities (LMI's) or almost linear, allowing the formulation of convex optimization problems.

Le chargement électrostatique d’un avion en vol peut mener à des perturbations électromagnétiques sur les systèmes de communication et navigation à bord. Ce phénomène est appelé Precipitation Static (P-Static). Cette thèse vise à développer un outil capable de localiser la source des perturbations pour ainsi réduire le coût et la durée des missions d’investigation spécifiques en compagnie aérienne. Les principaux objectifs sont : •Comprendre les mécanismes de charge et décharge électrique d’un avion en vol. •Développer une instrumentation capable de mesurer les émissions des sources de P-Static et qui soit conforme à une installation sur avion. •Développer une méthode de localisation capable d’estimer la position de la source. Le comportement électrostatique d’un avion en vol a été étudié. Le défi de la mesure temporelle de l’impulsion générée par des décharges sur avion a été relevé à l’aide des antennes VHF, d’une chaine d’amplification à fort gain, de filtres sélectifs, d’un déclenchement de mesure automatique et de l’exploitation de nombreuses mesures. Les retards mesurés entre les impulsions ont été utilisés comme entrée de la méthode inverse de localisation développée. Cette méthode repose sur une base de données de retards, construite par modélisation de la propagation, permettant après comparaison avec la mesure, de déterminer la position de la source. Les tests effectués au laboratoire et sur avion au sol ont montré des résultats prometteurs puisque les zones estimées contenant la source correspondent à une zone réduite sur la surface de l’avion. / The static charging of an aircraft in flight may lead to electrostatic discharges that in turn lead to electromagnetic disturbances on aircraft radio and avionic systems. This phenomenon is called Precipitation Static (P-Static). This thesis aims to develop a tool capable of narrowing down the location of the source of disturbances in order to reduce the cost and duration of specific troubleshooting missions in airlines. The main objectives are : •To understand the electrical charging and discharging dynamics of an aircraft. •To develop an instrumentation capable of measuring the electromagnetic emissions of P-Static sources and that is compliant to aircraft installation constraints. •To develop a location method capable of estimating the position of the source. The electrostatic behaviour of an aircraft has been studied. The challenge in measuring the pulse generated by discharges on an aircraft was achieved by the combination of VHF antennas, a high gain amplifier chain, selective filters, automated triggering and numerous acquisitions. The delays obtained between the three pulses serve as input for the location inverse method developed. This method is based on a database of delays, built using propagation models, allowing after comparison with measurements, to determine the source position. The tests performed in laboratory and on aircraft on ground show promising results as the estimated zones containing the source correspond to a reduced zone on the surface of the aircraft.

Neste trabalho, aborda-se o problema de estabilização de sistemas lineares com atrasos nos estados e sujeitos a ação de atuadores saturantes. Em particular, são propostos métodos para a síntese de leis de controle estabilizantes do tipo realimentação de estados, realimentação dinâmica de saída, bem como para a síntese de compensadores de "anti-windup" estáticos e dinâmicos. Como objetivo de síntese consideram-se duas possibilidades, que o sistema esteja livre ou não de perturbações. No primeiro caso, determina-se uma lei de controle estabilizante de tal forma a maximizar um conjunto de condições iniciais admissíveis D. No caso do conjunto D ser dado, a lei de controle estabilizante que se determina, deve garantir estabilidade assintótica do sistema em malha-fechada para toda condição inicial pertencente a D. No segundo caso, considerando-se os problemas de atenuação e tolerância à perturbação, as leis de controle são obtidas com o intuito de minimizar o ganho-L2 entre a perturbação e a saída regulada do sistema ou de maximizar o limite superior da norma L2 das perturbações admissíveis, para as quais garante-se que as trajetórias do sistema em malha-fechada permaneçam limitadas. Condições locais e globais de estabilização são obtidas a partir da teoria de Lyapunov e da modelagem por zona-morta da saturação, com a conseqüente aplicação de uma condição de setor generalizada. Em se tratando de sistemas contínuos, para que as condições obtidas sejam dependentes do atraso, combinam-se estas ferramentas com a representação do sistema através de sistema descritor. Já no caso de sistemas discretos, combinam-se estas duas ferramentas com a utilização do Lema de Finsler. A utilização destas ferramentas possibilita que as condições obtidas sejam na forma de desigualdades matriciais lineares (LMI's) ou quase lineares, permitindo assim, a formulação de problemas de otimização convexos. / In this work, we deal with the problem of stabilization of linear systems with delayed state and saturating inputs. Specifically, methods are proposed for the synthesis of stabilizing control laws of state feedback and dynamic output feedback types, as well as for the synthesis of static and dynamic anti-windup compensators. Regarding synthesis objectives two possibilities were considered, that the system is free or not of disturbances. In the first case, the stabilizing control law is computed considering the maximization of the set of admissible initial conditions D. In the case the set D is given, this stabilizing control law should guarantee asymptotic stability of the closed-loop system. In the second case, considering the problems of tolerance and disturbance attenuation, the control laws are proposed in order to minimize the L2 gain between to disturbance and the regulated output of system, or in order to maximize the bound on the admissible disturbances for which the trajectories are bounded. Local and global conditions for stabilization are obtained from the theory of Lyapunov and the modeling of the saturation by means of deadzone nonlinearities and the consequent application of a modified sector condition. For continuous systems, in order to obtain delay dependent conditions, these tools are combined with descriptor approach. In the case of discrete-time systems, these two tools are combined with the utilization of Finsler's Lemma. The use of these leads to the conditions in the form of Linear Matrix Inequalities (LMI's) or almost linear, allowing the formulation of convex optimization problems.

Made available in DSpace on 2014-06-11T19:22:31Z (GMT). No. of bitstreams: 0 Previous issue date: 2007-06-15Bitstream added on 2014-06-13T19:08:03Z : No. of bitstreams: 1 martinhon_g_me_ilha.pdf: 1559279 bytes, checksum: 7e975933281fbe9aec5c7a3556631af8 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / A estimação do tempo de atraso entre dois sinais de ultra-som é uma tarefa muito comum e importante em diversas aplicações, como em sistemas de posicionamento para medição de distâncias, medidores de espessura em ensaios não-destrutivos, células de medição de propriedades de materiais, entre outros. Em algumas aplicações há necessidade de elevada acurácia e precisão na determinação do tempo de atraso, que dependem de diversos parâmetros do transdutor, de sua excitação e do meio em que a onda se propaga, além do método de estimação e representação numérica. Neste trabalho são avaliados três estimadores de tempo de atraso, com implementações em ponto-fixo e ponto-flutuante: correlação cruzada com interpolação parabólica, transformada de Hilbert da correlação e envoltória do sinal analítico. Os estimadores são avaliados em MATLAB, em ponto-flutuante, com sinais sintetizados e com sinais reais obtidos em laboratório, e em ponto-fixo, usando um processador digital de sinais TMS320VC5416, da Texas Instruments. São explorados parâmetros como freqüência central do transdutor, freqüência de amostragem, largura de banda, relação sinal-ruído e atenuação do meio. O desempenho dos métodos é comparado por meio dos erros médios e desvios-padrão das medidas / Time-delay estimation between two ultrasonic signals is a very common and important task in several applications, such as distance measurement in positioning systems, thickness measurement in nondestructive testing, measurement cells of materials properties, among others. Some applications require high accuracy and precision on the determination of the time-delay, which depend on several transducer parameters, excitation and medium of propagation, as well as the estimation method and numerical representation. In this work, three time-delay estimators are evaluated, with fixed- and floating-point implementations: cross-correlation with parabolic interpolation, Hilbert transform of correlation and analytic signal envelope. The estimators are evaluated in MATLAB with floating-point representation, using synthesized signals and real signals acquired in laboratory, and in fixed-point using a Texas Instruments TMS320VC5416 digital signal processor. Parameters as transducer central frequency, sampling frequency, bandwidth, signal-to-noise ratio and medium attenuation are considered. The performances of the methods are compared by means of errors (or bias) and standard deviations