Matching Items (6)
Filtering by
- All Subjects: Optimization
- Creators: Berman, Spring
Description
Buildings consume a large portion of the world's energy, but with the integration of phase change materials (PCMs) in building elements this energy cost can be greatly reduced. The addition of PCMs into building elements, however, becomes a challenge to model and analyze how the material actually affects the energy flow and temperatures in the system. This research work presents a comprehensive computer program used to model and analyze PCM embedded wall systems. The use of the finite element method (FEM) provides the tool to analyze the energy flow of these systems. Finite element analysis (FEA) can model the transient analysis of a typical climate cycle along with nonlinear problems, which the addition of PCM causes. The use of phase change materials is also a costly material expense. The initial expense of using PCMs can be compensated by the reduction in energy costs it can provide. Optimization is the tool used to determine the optimal point between adding PCM into a wall and the amount of energy savings that layer will provide. The integration of these two tools into a computer program allows for models to be efficiently created, analyzed and optimized. The program was then used to understand the benefits between two different wall models, a wall with a single layer of PCM or a wall with two different PCM layers. The effect of the PCMs on the inside wall temperature along with the energy flow across the wall are computed. The numerical results show that a multi-layer PCM wall was more energy efficient and cost effective than the single PCM layer wall. A structural analysis was then performed on the optimized designs using ABAQUS v. 6.10 to ensure the structural integrity of the wall was not affected by adding PCM layer(s).
ContributorsStockwell, Amie (Author) / Rajan, Subramaniam D. (Thesis advisor) / Neithalath, Narayanan (Thesis advisor) / Mobasher, Barzin (Committee member) / Arizona State University (Publisher)
Created2013
Description
The notion of the safety of a system when placed in an environment with humans and other machines has been one of the primary concerns of practitioners while deploying any cyber-physical system (CPS). Such systems, also called safety-critical systems, need to be exhaustively tested for erroneous behavior. This generates the need for coming up with algorithms that can help ascertain the behavior and safety of the system by generating tests for the system where they are likely to falsify. In this work, three algorithms have been presented that aim at finding falsifying behaviors in cyber-physical Systems. PART-X intelligently partitions while sampling the input space to provide probabilistic point and region estimates of falsification. PYSOAR-C and LS-EMIBO aims at finding falsifying behaviors in gray-box systems when some information about the system is available. Specifically, PYSOAR-C aims to find falsification while maximizing coverage using a two-phase optimization process, while LS-EMIBO aims at exploiting the structure of a requirement to find falsifications with lower computational cost compared to the state-of-the-art. This work also shows the efficacy of the algorithms on a wide range of complex cyber-physical systems. The algorithms presented in this thesis are available as python toolboxes.
ContributorsKhandait, Tanmay Bhaskar (Author) / Pedrielli, Giulia (Thesis advisor) / Fainekos, Georgios (Thesis advisor) / Gopalan, Nakul (Committee member) / Arizona State University (Publisher)
Created2022
Description
Multibody Dynamic (MBD) models are important tools in motion analysis and are used to represent and accurately predict the behavior of systems in the real-world. These models have a range of applications, including the stowage and deployment of flexible deployables on spacecraft, the dynamic response of vehicles in automotive design and crash testing, and mapping interactions of the human body. An accurate model can aid in the design of a system to ensure the system is effective and meets specified performance criteria when built. A model may have many design parameters, such as geometrical constraints and component mechanical properties, or controller parameters if the system uses an external controller. Varying these parameters and rerunning analyses by hand to find an ideal design can be time consuming for models that take hours or days to run. To reduce the amount of time required to find a set of parameters that produces a desired performance, optimization is necessary. Many papers have discussed methods for optimizing rigid and flexible MBD models, and separately their controllers, using both gradient-based and gradient-free algorithms. However, these optimization methods have not been used to optimize full-scale MBD models and their controllers simultaneously. This thesis presents a method for co-optimizing an MBD model and controller that allows for the flexibility to find model and controller-based solutions for systems with tightly coupled parameters. Specifically, the optimization is performed on a quadrotor drone MBD model undergoing disturbance from a slung load and its position controller to meet specified position error performance criteria. A gradient-free optimization algorithm and multiple objective approach is used due to the many local optima from the tradeoffs between the model and controller parameters. The thesis uses nine different quadrotor cases with three different position error formulations. The results are used to determine the effectiveness of the optimization and the ability to converge on a single optimal design. After reviewing the results, the optimization limitations are discussed as well as the ability to transition the optimization to work with different MBD models and their controllers.
ContributorsGambatese, Marcus (Author) / Zhang, Wenlong (Thesis advisor) / Berman, Spring (Committee member) / Inoyama, Daisaku (Committee member) / Arizona State University (Publisher)
Created2022
Description
Laminated composite materials are used in aerospace, civil and mechanical structural systems due to their superior material properties compared to the constituent materials as well as in comparison to traditional materials such as metals. Laminate structures are composed of multiple orthotropic material layers bonded together to form a single performing part. As such, the layup design of the material largely influences the structural performance. Optimization techniques such as the Genetic Algorithm (GA), Differential Evolution (DE), the Method of Feasible Directions (MFD), and others can be used to determine the optimal laminate composite material layup. In this thesis, sizing, shape and topology design optimization of laminated composites is carried out. Sizing optimization, such as the layer thickness, topology optimization, such as the layer orientation and material and the number of layers present, and shape optimization of the overall composite part contribute to the design optimization process of laminates. An optimization host program written in C++ has been developed to implement the optimization methodology of both population based and numerical gradient based methods. The performance of the composite structural system is evaluated through explicit finite element analysis of shell elements carried out using LS-DYNA. Results from numerical examples demonstrate that optimization design processes can significantly improve composite part performance through implementation of optimum material layup and part shape.
ContributorsMika, Krista (Author) / Rajan, Subramaniam D. (Thesis advisor) / Neithalath, Narayanan (Committee member) / Mobasher, Barzin (Committee member) / Arizona State University (Publisher)
Created2014
Description
In order for assistive mobile robots to operate in the same environment as humans, they must be able to navigate the same obstacles as humans do. Many elements are required to do this: a powerful controller which can understand the obstacle, and power-dense actuators which will be able to achieve the necessary limb accelerations and output energies. Rapid growth in information technology has made complex controllers, and the devices which run them considerably light and cheap. The energy density of batteries, motors, and engines has not grown nearly as fast. This is problematic because biological systems are more agile, and more efficient than robotic systems. This dissertation introduces design methods which may be used optimize a multiactuator robotic limb's natural dynamics in an effort to reduce energy waste. These energy savings decrease the robot's cost of transport, and the weight of the required fuel storage system. To achieve this, an optimal design method, which allows the specialization of robot geometry, is introduced. In addition to optimal geometry design, a gearing optimization is presented which selects a gear ratio which minimizes the electrical power at the motor while considering the constraints of the motor. Furthermore, an efficient algorithm for the optimization of parallel stiffness elements in the robot is introduced. In addition to the optimal design tools introduced, the KiTy SP robotic limb structure is also presented. Which is a novel hybrid parallel-serial actuation method. This novel leg structure has many desirable attributes such as: three dimensional end-effector positioning, low mobile mass, compact form-factor, and a large workspace. We also show that the KiTy SP structure outperforms the classical, biologically-inspired serial limb structure.
ContributorsCahill, Nathan M (Author) / Sugar, Thomas (Thesis advisor) / Ren, Yi (Thesis advisor) / Holgate, Matthew (Committee member) / Berman, Spring (Committee member) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2017
Description
The problem of modeling and controlling the distribution of a multi-agent system has recently evolved into an interdisciplinary effort. When the agent population is very large, i.e., at least on the order of hundreds of agents, it is important that techniques for analyzing and controlling the system scale well with the number of agents. One scalable approach to characterizing the behavior of a multi-agent system is possible when the agents' states evolve over time according to a Markov process. In this case, the density of agents over space and time is governed by a set of difference or differential equations known as a {\it mean-field model}, whose parameters determine the stochastic control policies of the individual agents. These models often have the advantage of being easier to analyze than the individual agent dynamics. Mean-field models have been used to describe the behavior of chemical reaction networks, biological collectives such as social insect colonies, and more recently, swarms of robots that, like natural swarms, consist of hundreds or thousands of agents that are individually limited in capability but can coordinate to achieve a particular collective goal.
This dissertation presents a control-theoretic analysis of mean-field models for which the agent dynamics are governed by either a continuous-time Markov chain on an arbitrary state space, or a discrete-time Markov chain on a continuous state space. Three main problems are investigated. First, the problem of stabilization is addressed, that is, the design of transition probabilities/rates of the Markov process (the agent control parameters) that make a target distribution, satisfying certain conditions, invariant. Such a control approach could be used to achieve desired multi-agent distributions for spatial coverage and task allocation. However, the convergence of the multi-agent distribution to the designed equilibrium does not imply the convergence of the individual agents to fixed states. To prevent the agents from continuing to transition between states once the target distribution is reached, and thus potentially waste energy, the second problem addressed within this dissertation is the construction of feedback control laws that prevent agents from transitioning once the equilibrium distribution is reached. The third problem addressed is the computation of optimized transition probabilities/rates that maximize the speed at which the system converges to the target distribution.
This dissertation presents a control-theoretic analysis of mean-field models for which the agent dynamics are governed by either a continuous-time Markov chain on an arbitrary state space, or a discrete-time Markov chain on a continuous state space. Three main problems are investigated. First, the problem of stabilization is addressed, that is, the design of transition probabilities/rates of the Markov process (the agent control parameters) that make a target distribution, satisfying certain conditions, invariant. Such a control approach could be used to achieve desired multi-agent distributions for spatial coverage and task allocation. However, the convergence of the multi-agent distribution to the designed equilibrium does not imply the convergence of the individual agents to fixed states. To prevent the agents from continuing to transition between states once the target distribution is reached, and thus potentially waste energy, the second problem addressed within this dissertation is the construction of feedback control laws that prevent agents from transitioning once the equilibrium distribution is reached. The third problem addressed is the computation of optimized transition probabilities/rates that maximize the speed at which the system converges to the target distribution.
ContributorsBiswal, Shiba (Author) / Berman, Spring (Thesis advisor) / Fainekos, Georgios (Committee member) / Lanchier, Nicolas (Committee member) / Mignolet, Marc (Committee member) / Peet, Matthew (Committee member) / Arizona State University (Publisher)
Created2020