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.

Time Delay of Arrival (TDOA) based algorithms and Steered Response Power (SRP) based algorithms are two most commonly used methods for sound source detection and localization. SRP is more robust under high reverberation and multi-target conditions, while TDOA is less computationally intensive. This thesis introduces a modified TDOA algorithm, TDOA delay table search (TDOA-DTS), that has more stable performance than the original TDOA, and requires only 4% of the SRP computation load for a 3-dimensional space of a typical room. A 2-step adaptive thresholding procedure based on a Weibull noise peak distributions for the cross-correlations and a binomial distribution for combing potential peaks over all microphone pairs for the final detection. The first threshold limits the potential target peaks in the microphone pair cross-correlations with a user-defined false-alarm (FA) rates. The initial false-positive peak rate can be set to a higher level than desired for the final FA target rate so that high accuracy is not required of the probability distribution model (where model errors do not impact FA rates as they work for threshold set deep into the tail of the curve). The final FA rate can be lowered to the actual desired value using an M out of N (MON) rule on significant correlation peaks from different microphone pairs associated is a point in the space of interest. The algorithm is tested with simulated and real recorded data to verify resulting FA rates are consistent with the user-defined rates down to 10-6.

In this paper we will deal involving short-wave radio station and its control by the sequencer. Mostly it will be a time delay of the PA and the antenna switching relay in the transmitter (TX) to receiver (RX) side. Time delays will be controlled programmatically using ATmega 16 microprocessor, which will form part of the main control sequencer. The delay will set the total time of keying in messages, when we take into account the loss due to delayed first symbol. Keying will be done from several sources, among the main sources will be ordered from keying the radio, telegraph keys, and PC. The transmission signal is used amplitude modulation (SSB) in the CB zone.

The necessity of interconnecting objects more and more, possibly with high mobility, has pushed the telecommunications industry to recently develop new wireless standards in order to guarantee tracking of devices and to provide integration with well-known worldwide networks such as the Internet. Within these standards the role played by power consumption is implicit, hence power consumption needs to be as low as possible in order to fulfill long-life requirements and to offer the opportunity of locating and moving smart objects in the coverage area while relying only on batteries as the device's power source.  Considering the importance of identifying and tracking these smart objects with high accuracy and high precision, this document propose an implementation of an IEEE 802.15.4a MAC layer, exploiting ultra-wideband wireless technology, with a time synchronization algorithm included for precise Time Difference of Arrival indoor positioning. Nevertheless, this thesis demonstrates the advantages of using UWB for indoor wireless communication, due to its accuracy in localization and its robustness against interference. A demonstration network has been analyzed consisting of four main base stations optimistically displaced at the corners of a room gathering timestamps from a central tag moving within the space where the UWB signal is within range. These timestamps are collected in one of the base station which plays the role of the coordinator and sends this information to a server which computes the position of the tag using TDOA formulation. The main focus of this work is the synchronization algorithms used to synchronize the four base stations and secondly to synchronize the coordinator with the tag. Particular interest is placed on the protocol, the kind of messages exchanged, and the procedure used to maintain a good level of synchronization and to avoid unwanted clock drifts. Moreover the thesis gives some hints of potential future improvements and proposes a possible solution for large-scale scenarios involving the installation of additional base stations for higher coverage and integration of a larger number of tags, with a focus on synchronization, collision avoidance, and routing procedures to better Fit the situation of a larger network and more tags.  As a result, all the assumptions and the methodologies applied give evidence of how difficult it is to meet contemporary requirements for position accuracy, low power consumption, limited memory, and small message exchange when utilizing low-power and lossy networks and to address problems which need to be further studied in the future. The results of this thesis project offer a good proof of the possibility to reach high accuracy in terms of localization when exploiting UWB radio technology and redundant time synchronization algorithms with the help of TDOA measurements. / Nödvändigheten av sammankopplade objekt mer och mer, eventuellt med hög rörlighet, har drivit telekombranschen till nyligen utveckla nya tråadlösa standarder för att garantera spåarning av enheter och att ge integration med välkända världsomspännande nätverk som Internet. Inom dessa standarder roll strömförbrukningen är implicit, måaste därför strömförbrukningen ska vara såa låag som möjligt för att uppfylla låang livslängd krav och erbjuda möjligheten att lokalisera och flytta smarta objekt i täckningsområadet medan enbart med hjälp av batterier som enhetens strömkälla. Med tanke påa vikten av att identiera och spåara dessa smarta objekt med hög noggrannhet och hög precision, detta dokument föreslåa ett genomförande av en IEEE 802.15.4a MAC-lager, utnyttja ultrabredbandsteknik tråadlös teknik, med en tidssynkronisering algoritm ingåar för exakt tidsskillnaden för ankomst inomhus positionering. Ändåa visar denna avhandling fördelarna med att använda UWB för inomhus tråadlös kommunikation, påa grund av dess noggrannhet i lokalisering och robusthet mot störningar. En demonstration nätverk har analyserats beståar av fyra huvudsakliga basstationer optimistiskt förskjutna i hörnen av ett rum samla tidsstämplar fråan en central tagg flyttar inom utrymme där UWB signalen är inom räckhåall.  Dessa tidsangivelser samlas i en av basstationen som spelar rollen av samordnare och skickar denna information till en server som beräknar position taggen med TDOA formulering. Tyngdpunkten i detta arbete är att synkronisering algoritmer som används för att synkronisera de fyra basstationer dels att synkronisera samordnaren med taggen. Särskilt intresse läggs vid protokollet, den typ av utbytta meddelanden och det förfarande som används för att upprätthåalla en god nivåa av synkronisering och för att undvika oönskade klocka drivor. Dessutom avhandlingen ger nåagra tips om potentiella framtida förbättringar och föreslåar en möjlig lösning för storskaliga scenarier som innebär installation av ytterligare basstationer för högre täckning och integration av ett större antal taggar, med fokus påa synkronisering, att undvika kollision och routing förfaranden för att bättre passa situationen i ett större nätverk och fler taggar.  Som ett resultat, som tillämpas alla antaganden och metoder vittnar om hur svåart det är att uppfylla dagens krav påa positionsnoggrannhet, låag strömförbrukning, begränsat minne, och småa utbyte av meddelanden vid användning med låag effekt och förstörande nätverk och att ta itu med problem som måaste studeras vidare i framtiden. Resultaten fråan denna avhandling projekt erbjuder en bra bevis påa möjligheten att nåa hög noggrannhet vad gäller lokalisering vid utnyttjande UWB radioteknik och redundanta tid algoritmer synkronisering med hjälp av TDOA mätningar.

This thesis investigates the development of a low-cost passive acoustic system for localizing moving vessels to monitor areas where human activities such as fishing, snorkeling and poaching are restricted. The system uses several off-the-shelf sensors with unsynchronized clocks where the Time Difference of Arrival (TDOA) or time delay is extracted by cross-correlation of the signal between paired sensors. The cross-correlation function uses phase correlation or Phase Transform (PHAT) which whitens the cross-spectrum in order to de-emphasize dominant frequency components. Using the locations of pairs of sensors as foci, hyperbolic equations can be defined using the time delay between them. With three or more sensors, multiple hyperbolic functions can be calculated which intersect at a unique point: the boat's location. It is also found that increasing separation distances between sensors decreased the correlation between the signals. However larger separation distances have better localization capability than with small distances. Experimental results from the Columbia and Willamette Rivers are presented to demonstrate performance.

This paper explores how vision affects spatial audio perception in virtual reality. We created four virtual environments with different reverb and room sizes, and recorded binaural clicks in each one. We conducted two experiments: one where participants judged the audio-visual match, and another where they pointed to the click direction. We found that vision influences spatial audio perception and that congruent audio-visual cues improve accuracy. We suggest some implications for virtual reality design and evaluation.

No description available.

No description available.

Stochastic processes with temporal delay play an important role in science and engineering whenever finite speeds of signal transmission and processing occur. However, an exact mathematical analysis of their dynamics and thermodynamics is available for linear models only. We introduce a class of stochastic delay processes with nonlinear time-local forces and linear time-delayed forces that obey fluctuation theorems and converge to a Boltzmann equilibrium at long times. From the point of view of control theory, such ‘equilibrium stochastic delay processes’ are stable and energetically passive, by construction. Computationally, they provide diverse exact constraints on general nonlinear stochastic delay problems and can, in various situations, serve as a starting point for their perturbative analysis. Physically, they admit an interpretation in terms of an underdamped Brownian particle that is either subjected to a time-local force in a non-Markovian thermal bath or to a delayed feedback force in a Markovian thermal bath. We illustrate these properties numerically for a setup familiar from feedback cooling and point out experimental implications.