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Description
Complex human controls is a topic of much interest in the fields of robotics, manufacturing, space exploration and many others. Even simple tasks that humans perform with ease can be extremely complicated when observed from a controls and complex systems perspective. One such simple task is that of a human carrying and moving a coffee cup. Though this may be a mundane task for humans, when this task is modelled and analyzed, the system may be quite chaotic in nature. Understanding such systems is key to the development robots and autonomous systems that can perform these tasks themselves.
The coffee cup system can be simplified and modeled by a cart-and-pendulum system. Bazzi et al. and Maurice et al. present two different cart-and-pendulum systems to represent the coffee cup system [1],[2]. The purpose of this project was to build upon these systems and to gain a better understanding of the coffee cup system and to determine where chaos existed within the system. The honors thesis team first worked with their senior design group to develop a mathematical model for the cart-and-pendulum system based on the Bazzi and Maurice papers [1],[2]. This system was analyzed and then built upon by the honors thesis team to build a cart-and-two-pendulum model to represent the coffee cup system more accurately.
Analysis of the single pendulum model showed that there exists a low frequency region where the pendulum and the cart remain in phase with each other and a high frequency region where the cart and pendulum have a π phase difference between them. The transition point of the low and high frequency region is determined by the resonant frequency of the pendulum. The analysis of the two-pendulum system also confirmed this result and revealed that differences in length between the pendulum cause the pendulums to transition to the high frequency regions at separate frequency. The pendulums have different resonance frequencies and transition into the high frequency region based on their own resonant frequency. This causes a range of frequencies where the pendulums are out of phase from each other. After both pendulums have transitioned, they remain in phase with each other and out of phase from the cart.
However, if the length of the pendulum is decreased too much, the system starts to exhibit chaotic behavior. The short pendulum starts to act in a chaotic manner and the phase relationship between the pendulums and the carts is no longer maintained. Since the pendulum length represents the distance between the particle of coffee and the top of the cup, this implies that coffee near the top of the cup would cause the system to act chaotically. Further analysis would be needed to determine the reason why the length affects the system in this way.
The coffee cup system can be simplified and modeled by a cart-and-pendulum system. Bazzi et al. and Maurice et al. present two different cart-and-pendulum systems to represent the coffee cup system [1],[2]. The purpose of this project was to build upon these systems and to gain a better understanding of the coffee cup system and to determine where chaos existed within the system. The honors thesis team first worked with their senior design group to develop a mathematical model for the cart-and-pendulum system based on the Bazzi and Maurice papers [1],[2]. This system was analyzed and then built upon by the honors thesis team to build a cart-and-two-pendulum model to represent the coffee cup system more accurately.
Analysis of the single pendulum model showed that there exists a low frequency region where the pendulum and the cart remain in phase with each other and a high frequency region where the cart and pendulum have a π phase difference between them. The transition point of the low and high frequency region is determined by the resonant frequency of the pendulum. The analysis of the two-pendulum system also confirmed this result and revealed that differences in length between the pendulum cause the pendulums to transition to the high frequency regions at separate frequency. The pendulums have different resonance frequencies and transition into the high frequency region based on their own resonant frequency. This causes a range of frequencies where the pendulums are out of phase from each other. After both pendulums have transitioned, they remain in phase with each other and out of phase from the cart.
However, if the length of the pendulum is decreased too much, the system starts to exhibit chaotic behavior. The short pendulum starts to act in a chaotic manner and the phase relationship between the pendulums and the carts is no longer maintained. Since the pendulum length represents the distance between the particle of coffee and the top of the cup, this implies that coffee near the top of the cup would cause the system to act chaotically. Further analysis would be needed to determine the reason why the length affects the system in this way.
ContributorsZindani, Abdul Rahman (Co-author) / Crane, Kari (Co-author) / Lai, Ying-Cheng (Thesis director) / Jiang, Junjie (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-12
Description
With the revolution of low-cost microelectronics, rotary-wing vehicles have grown increasingly popular and important in the past two decades. With increased interest in quadcopters comes the need to for a systematic and rigorous framework to model, analyze, control, and design them. This thesis presents the beginning of such a framework.
The work presents the nonlinear equations of motion of a quadcopter. This includes the translational and rotational equations of motion, as well as an analysis of the nonlinear actuator dynamics. The work then analyzes the static properties of a quadcopter in forward flight equilibrium and shows how static properties change as physical properties of the vehicle are varied. Next, the dynamics of forward flight are linearized, and a dynamic analysis is provided.
After dynamic analysis, the work shows detailed hierarchical control system design trade studies, which includes attitude and translational inner-outer loop control. Among other designs, the following are presented: PD control, proportional control, pole-placement control. Each of these control architectures are employed for the inner loops and outer loops. The work also analyzes linear versus nonlinear simulation performance of a quadcopter, specifically for a step x-axis reference command. It is found that the nonlinear dynamics of the actuator cause significant discrepancy between linear and nonlinear simulation.
Finally, this thesis establishes directions for future graduate research. This includes hardware design, as well as moving toward design of a highly-maneuverable thrust-vectoring quadrotor which will be the focus of the proposed graduate PhD research. In summary, this thesis provides the beginning of a cohesive framework to model, analyze, control, and design quadcopters. It also lays the groundwork for graduate research and beyond.
The work presents the nonlinear equations of motion of a quadcopter. This includes the translational and rotational equations of motion, as well as an analysis of the nonlinear actuator dynamics. The work then analyzes the static properties of a quadcopter in forward flight equilibrium and shows how static properties change as physical properties of the vehicle are varied. Next, the dynamics of forward flight are linearized, and a dynamic analysis is provided.
After dynamic analysis, the work shows detailed hierarchical control system design trade studies, which includes attitude and translational inner-outer loop control. Among other designs, the following are presented: PD control, proportional control, pole-placement control. Each of these control architectures are employed for the inner loops and outer loops. The work also analyzes linear versus nonlinear simulation performance of a quadcopter, specifically for a step x-axis reference command. It is found that the nonlinear dynamics of the actuator cause significant discrepancy between linear and nonlinear simulation.
Finally, this thesis establishes directions for future graduate research. This includes hardware design, as well as moving toward design of a highly-maneuverable thrust-vectoring quadrotor which will be the focus of the proposed graduate PhD research. In summary, this thesis provides the beginning of a cohesive framework to model, analyze, control, and design quadcopters. It also lays the groundwork for graduate research and beyond.
ContributorsWallace, Brent (Author) / Rodriguez, Armando (Thesis director) / Berman, Spring (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-12
Description
Analog to Digital Converters (ADCs) are a critical component in modern circuit applications. ADCs are used in virtually every application in which a digital circuit is interacting with data from the real world, ranging from commercial applications to crucial military and aerospace applications, and are especially important when interacting with sensors that observe environmental factors. Due to the critical nature of these converters, as well as the vast range of environments in which they are used, it is important that they accurately sample data regardless of environmental factors. These environmental factors range from input noise and power supply variations to temperature and radiation, and it is important to know how each may affect the accuracy of the resulting data when designing circuits that depend upon the data from these ADCs. These environmental factors are considered hostile environments, as they each generally have a negative effect on the operation of an ADC. This thesis seeks to investigate the effects of several of these hostile environmental variables on the performance of analog to digital converters. Three different analog to digital converters with similar specifications were selected and analyzed under common hostile environments. Data was collected on multiple copies of an ADC and averaged together to analyze the results using multiple characteristics of converter performance. Performance metrics were obtained across a range of frequencies, input noise, input signal offsets, power supply voltages, and temperatures. The obtained results showed a clear decrease in performance farther from a room temperature environment, but the results for several other environmental variables showed either no significant correlation or resulted in inconclusive data.
ContributorsSwanson, Taylor Catherine (Co-author) / Millman, Hershel (Co-author) / Barnaby, Hugh (Thesis director) / Garrity, Douglas (Committee member) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
The NASA Psyche Iron Meteorite Imaging System (IMIS) is a standalone system created to image metal meteorites from ASU’s Center for Meteorite Studies’ collection that have an etched surface. Meteorite scientists have difficulty obtaining true-to-life images of meteorites through traditional photography methods due to the meteorites’ shiny, irregular surfaces, which interferes with their ability to identify meteorites’ component materials through image analysis. Using the IMIS, scientists can easily and consistently obtain glare-free photographs of meteorite surface that are suitable for future use in an artificial intelligence-based meteorite component analysis system. The IMIS integrates a lighting system, a mounted camera, a sample positioning area, a meteorite leveling/positioning system, and a touch screen control panel featuring an interface that allows the user to see a preview of the image to be taken as well as an edge detection view, a glare detection view, a button that allows the user to remotely take the picture, and feedback if very high levels of glare are detected that may indicate a camera or positioning error. Initial research and design work were completed by the end of Fall semester, and Spring semester consisted of building and testing the system. The current system is fully functional, and photos taken by the current system have been approved by a meteorite expert and an AI expert. The funding for this project was tentatively capped at $1000 for miscellaneous expenses, not including a camera to be supplied by the School of Earth and Space Exploration. When SESE was unable to provide a camera, an additional $4000 were allotted for camera expenses. So far, $1935 of the total $5000 budget has been spent on the project, putting the project $3065 under budget. While this system is a functional prototype, future capstone projects may involve the help of industrial designers to improve the technician’s experience through automating the sample positioning process.
ContributorsBaerwaldt, Morgan Kathleen (Author) / Bowman, Cassie (Thesis director) / Kozicki, Michael (Committee member) / School of Art (Contributor) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
Current technology does not allow for the full amount of power produced by solar arrays (PV) on spacecraft to be utilized. The arrays are designed with non-reconfigurable architectures and sent on fifteen to twenty year long missions. They cannot be changed once they are in space, so the arrays are designed for the end of life. Throughout their lifetime, solar arrays can degrade in power producing capabilities anywhere from 20% to 50%. Because there is such a drastic difference in the beginning and end of life power production, and because they cannot be reconfigured, a new design has been found necessary in order to increase power production. Reconfiguration allows the solar arrays to achieve maximum power producing capabilities at both the beginning and end of their lives. With the potential to increase power production by 50%, the reconfiguration design consists of a switching network to be able to utilize any combination of cells. The design for reconfiguration must meet the power requirements of the solar array. This thesis will explore different designs for reconfiguration, as well as possible switches for implementation. It will also review other methods to increase power production, as well as discuss future work in this field.
ContributorsJohnson, Everett Hope (Author) / Kitchen, Jennifer (Thesis director) / Ozev, Sule (Committee member) / School of International Letters and Cultures (Contributor) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
This is a lectures series on photovoltaics. As the need for electrical energy rises, mankind has struggled to meet its need in a reliable lasting way. Throughout this struggle, solar energy has come to the foreground as a complete solution. However, it has many drawbacks and needs a lot of development. In addition, the general public is unaware of how solar energy works, how it is made, and how it stands economically. This series of lectures answering those three questions.
ContributorsLeBeau, Edward Sanroma (Author) / Goryll, Michael (Thesis director) / Bowden, Stuart (Committee member) / Dauksher, Bill (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
With the progression of different industries moving away from employing secretaries for business professionals and professors, there exists a void in the area of personal assistance. This problem has existing solutions readily available to replace this service, i.e. secretary or personal assistant, tend to range from expensive and useful to inexpensive and not efficient. This leaves a low cost niche into the market of a virtual office assistant or manager to display messages and to help direct people in obtaining contact information. The development of a low cost solution revolves around the software needed to solve the various problems an accessible and user friendly Virtual Interface in which the owner of the Virtual Office Manager/Assistant can communicate to colleagues who are at standby outside of the owner's office and vice versa. This interface will be allowing the owner to describe the status pertaining to their absence or any other message sent to the interface. For example, the status of the owner's work commute can be described with a simple "Running Late" phrase or a message like "Busy come back in 10 minutes". In addition, any individual with an interest to these entries will have the opportunity to respond back because the device will provide contact information. When idle, the device will show supplemental information such as the owner's calendar and name. The scope of this will be the development and testing of solutions to achieve these goals.
ContributorsOffenberger, Spencer Eliot (Author) / Kozicki, Michael (Thesis director) / Goryll, Michael (Committee member) / Electrical Engineering Program (Contributor) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
Buck converters are a class of switched-mode power converters often used to step down DC input voltages to a lower DC output voltage. These converters naturally produce a current and voltage ripple at their output due to their switching action. Traditional methods of reducing this ripple have involved adding large discrete inductors and capacitors to filter the ripple, but large discrete components cannot be integrated onto chips. As an alternative to using passive filtering components, this project investigates the use of active ripple cancellation to reduce the peak output ripple. Hysteretic controlled buck converters were chosen for their simplicity of design and fast transient response. The proposed cancellation circuits sense the output ripple of the buck converter and inject an equal ripple exactly out of phase with the sensed ripple. Both current-mode and voltage-mode feedback loops are simulated, and the effectiveness of each cancellation circuit is examined. Results show that integrated active ripple cancellation circuits offer a promising substitute for large discrete filters.
ContributorsWang, Ziyan (Author) / Bakkaloglu, Bertan (Thesis director) / Kitchen, Jennifer (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-12
Description
This paper reviews several current designs of Cube Satellite (CubeSat) Electrical Power Systems (EPS) based on Silicon FET technologies and their current deficiencies, such as radiation-incurred defects and switching power losses. A strategy to fix these is proposed by the way of using Gallium Nitride (GaN) High Electron-Mobility Transistors (HEMTs) as switching devices within Buck/Boost Converters and other regulators. This work summarizes the EPS designs of several CubeSat missions, classifies them, and outlines their efficiency. An in-depth example of an EPS is also given, explaining the process in which these systems are designed. Areas of deficiency are explained along with reasoning as to why GaN can mitigate these losses, including its wide bandgap properties such as high RDS(on) and High Breakdown Voltage. Special design considerations must be kept in mind when using GaN HEMTs in this application and an example of a CubeSat using GaN HEMTs is mentioned. Finally, challenges ahead for GaN are explored including manufacturing considerations and long-term reliability.
ContributorsWilloughby, Alexander George (Author) / Kitchen, Jennifer (Thesis director) / Zhao, Yuji (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
Imaging using electric fields could provide a cheaper, safer, and easier alternative to the standard methods used for imaging. The viability of electric field imaging at very low frequencies using D-dot sensors has already been investigated and proven. The new goal is to determine if imaging is viable at high frequencies. In order to accomplish this, the operational amplifiers used in the very low frequency imaging test set up must be replaced with ones that have higher bandwidth. The trade-off of using these amplifiers is that they have a typical higher input leakage current on the order of 100 compared to the standard. Using a modified circuit design technique that reduces input leakage current of the operational amplifiers used in the imaging test setup, a printed circuit board with D-dot sensors is fabricated to identify the frequency limitations of electric field imaging. Data is collected at both low and high frequencies as well as low peak voltage. The data is then analyzed to determine the range in intensity of electric field and frequency that this circuit low-leakage design can accurately detect a signal. Data is also collected using another printed circuit board that uses the standard circuit design technique. The data taken from the different boards is compared to identify if the modified circuit design technique allows for higher sensitivity imaging. In conclusion, this research supports that using low-leakage design techniques can allow for signal detection comparable to that of the standard circuit design. The low-leakage design allowed for sensitivity within a factor two to that of the standard design. Although testing at higher frequencies was limited, signal detection for the low-leakage design was reliable up until 97 kHz, but further experimentation is needed to determine the upper frequency limits.
ContributorsLin, Richard (Co-author) / Angell, Tyler (Co-author) / Allee, David (Thesis director) / Chung, Hugh (Committee member) / Electrical Engineering Program (Contributor) / W. P. Carey School of Business (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12