Matching Items (3)
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- All Subjects: Systems science
- Creators: Yong, Sze Zheng
Description
VTOL drones were designed and built at the beginning of the 20th century for military applications due to easy take-off and landing operations. Many companies like Lockheed, Convair, NASA and Bell Labs built their own aircrafts but only a few from them came in to the market. Usually, flight automation starts from first principles modeling which helps in the controller design and dynamic analysis of the system.
In this project, a VTOL drone with a shape similar to a Convair XFY-1 is studied and the primary focus is stabilizing and controlling the flight path of the drone in
its hover and horizontal flying modes. The model of the plane is obtained using first principles modeling and controllers are designed to stabilize the yaw, pitch and roll rotational motions.
The plane is modeled for its yaw, pitch and roll rotational motions. Subsequently, the rotational dynamics of the system are linearized about the hover flying mode, hover to horizontal flying mode, horizontal flying mode, horizontal to hover flying mode for ease of implementation of linear control design techniques. The controllers are designed based on an H∞ loop shaping procedure and the results are verified on the actual nonlinear model for the stability of the closed loop system about hover flying, hover to horizontal transition flying, horizontal flying, horizontal to hover transition flying. An experiment is conducted to study the dynamics of the motor by recording the PWM input to the electronic speed controller as input and the rotational speed of the motor as output. A theoretical study is also done to study the thrust generated by the propellers for lift, slipstream velocity analysis, torques acting on the system for various thrust profiles.
In this project, a VTOL drone with a shape similar to a Convair XFY-1 is studied and the primary focus is stabilizing and controlling the flight path of the drone in
its hover and horizontal flying modes. The model of the plane is obtained using first principles modeling and controllers are designed to stabilize the yaw, pitch and roll rotational motions.
The plane is modeled for its yaw, pitch and roll rotational motions. Subsequently, the rotational dynamics of the system are linearized about the hover flying mode, hover to horizontal flying mode, horizontal flying mode, horizontal to hover flying mode for ease of implementation of linear control design techniques. The controllers are designed based on an H∞ loop shaping procedure and the results are verified on the actual nonlinear model for the stability of the closed loop system about hover flying, hover to horizontal transition flying, horizontal flying, horizontal to hover transition flying. An experiment is conducted to study the dynamics of the motor by recording the PWM input to the electronic speed controller as input and the rotational speed of the motor as output. A theoretical study is also done to study the thrust generated by the propellers for lift, slipstream velocity analysis, torques acting on the system for various thrust profiles.
ContributorsRAGHURAMAN, VIGNESH (Author) / Tsakalis, Konstantinos (Thesis advisor) / Rodriguez, Armando (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2018
Description
This work considers the design of separating input signals in order to discriminate among a finite number of uncertain nonlinear models. Each nonlinear model corresponds to a system operating mode, unobserved intents of other drivers or robots, or to fault types or attack strategies, etc., and the separating inputs are designed such that the output trajectories of all the nonlinear models are guaranteed to be distinguishable from each other under any realization of uncertainties in the initial condition, model discrepancies or noise. I propose a two-step approach. First, using an optimization-based approach, we over-approximate nonlinear dynamics by uncertain affine models, as abstractions that preserve all its system behaviors such that any discrimination guarantees for the affine abstraction also hold for the original nonlinear system. Then, I propose a novel solution in the form of a mixed-integer linear program (MILP) to the active model discrimination problem for uncertain affine models, which includes the affine abstraction and thus, the nonlinear models. Finally, I demonstrate the effectiveness of our approach for identifying the intention of other vehicles in a highway lane changing scenario. For the abstraction, I explore two approaches. In the first approach, I construct the bounding planes using a Mixed-Integer Nonlinear Problem (MINLP) formulation of the given system with appropriately designed constraints. For the second approach, I solve a linear programming (LP) problem that over-approximates the nonlinear function at only the grid points of a mesh with a given resolution and then accounting for the entire domain via an appropriate correction term. To achieve a desired approximation accuracy, we also iteratively subdivide the domain into subregions. This method applies to nonlinear functions with different degrees of smoothness, including Lipschitz continuous functions, and improves on existing approaches by enabling the use of tighter bounds. Finally, we compare the effectiveness of this approach with the existing optimization-based methods in simulation and illustrate its applicability for estimator design.
ContributorsSingh, Kanishka Raj (Author) / Yong, Sze Zheng (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2018
Description
The dawn of Internet of Things (IoT) has opened the opportunity for mainstream adoption of machine learning analytics. However, most research in machine learning has focused on discovery of new algorithms or fine-tuning the performance of existing algorithms. Little exists on the process of taking an algorithm from the lab-environment into the real-world, culminating in sustained value. Real-world applications are typically characterized by dynamic non-stationary systems with requirements around feasibility, stability and maintainability. Not much has been done to establish standards around the unique analytics demands of real-world scenarios.
This research explores the problem of the why so few of the published algorithms enter production and furthermore, fewer end up generating sustained value. The dissertation proposes a ‘Design for Deployment’ (DFD) framework to successfully build machine learning analytics so they can be deployed to generate sustained value. The framework emphasizes and elaborates the often neglected but immensely important latter steps of an analytics process: ‘Evaluation’ and ‘Deployment’. A representative evaluation framework is proposed that incorporates the temporal-shifts and dynamism of real-world scenarios. Additionally, the recommended infrastructure allows analytics projects to pivot rapidly when a particular venture does not materialize. Deployment needs and apprehensions of the industry are identified and gaps addressed through a 4-step process for sustainable deployment. Lastly, the need for analytics as a functional area (like finance and IT) is identified to maximize the return on machine-learning deployment.
The framework and process is demonstrated in semiconductor manufacturing – it is highly complex process involving hundreds of optical, electrical, chemical, mechanical, thermal, electrochemical and software processes which makes it a highly dynamic non-stationary system. Due to the 24/7 uptime requirements in manufacturing, high-reliability and fail-safe are a must. Moreover, the ever growing volumes mean that the system must be highly scalable. Lastly, due to the high cost of change, sustained value proposition is a must for any proposed changes. Hence the context is ideal to explore the issues involved. The enterprise use-cases are used to demonstrate the robustness of the framework in addressing challenges encountered in the end-to-end process of productizing machine learning analytics in dynamic read-world scenarios.
This research explores the problem of the why so few of the published algorithms enter production and furthermore, fewer end up generating sustained value. The dissertation proposes a ‘Design for Deployment’ (DFD) framework to successfully build machine learning analytics so they can be deployed to generate sustained value. The framework emphasizes and elaborates the often neglected but immensely important latter steps of an analytics process: ‘Evaluation’ and ‘Deployment’. A representative evaluation framework is proposed that incorporates the temporal-shifts and dynamism of real-world scenarios. Additionally, the recommended infrastructure allows analytics projects to pivot rapidly when a particular venture does not materialize. Deployment needs and apprehensions of the industry are identified and gaps addressed through a 4-step process for sustainable deployment. Lastly, the need for analytics as a functional area (like finance and IT) is identified to maximize the return on machine-learning deployment.
The framework and process is demonstrated in semiconductor manufacturing – it is highly complex process involving hundreds of optical, electrical, chemical, mechanical, thermal, electrochemical and software processes which makes it a highly dynamic non-stationary system. Due to the 24/7 uptime requirements in manufacturing, high-reliability and fail-safe are a must. Moreover, the ever growing volumes mean that the system must be highly scalable. Lastly, due to the high cost of change, sustained value proposition is a must for any proposed changes. Hence the context is ideal to explore the issues involved. The enterprise use-cases are used to demonstrate the robustness of the framework in addressing challenges encountered in the end-to-end process of productizing machine learning analytics in dynamic read-world scenarios.
ContributorsShahapurkar, Som (Author) / Liu, Huan (Thesis advisor) / Davulcu, Hasan (Committee member) / Ameresh, Ashish (Committee member) / He, Jingrui (Committee member) / Tuv, Eugene (Committee member) / Arizona State University (Publisher)
Created2016