Matching Items (7)
Filtering by
- Genre: Masters Thesis
Description
This thesis describes an approach to system identification based on compressive sensing and demonstrates its efficacy on a challenging classical benchmark single-input, multiple output (SIMO) mechanical system consisting of an inverted pendulum on a cart. Due to its inherent non-linearity and unstable behavior, very few techniques currently exist that are capable of identifying this system. The challenge in identification also lies in the coupled behavior of the system and in the difficulty of obtaining the full-range dynamics. The differential equations describing the system dynamics are determined from measurements of the system's input-output behavior. These equations are assumed to consist of the superposition, with unknown weights, of a small number of terms drawn from a large library of nonlinear terms. Under this assumption, compressed sensing allows the constituent library elements and their corresponding weights to be identified by decomposing a time-series signal of the system's outputs into a sparse superposition of corresponding time-series signals produced by the library components. The most popular techniques for non-linear system identification entail the use of ANN's (Artificial Neural Networks), which require a large number of measurements of the input and output data at high sampling frequencies. The method developed in this project requires very few samples and the accuracy of reconstruction is extremely high. Furthermore, this method yields the Ordinary Differential Equation (ODE) of the system explicitly. This is in contrast to some ANN approaches that produce only a trained network which might lose fidelity with change of initial conditions or if facing an input that wasn't used during its training. This technique is expected to be of value in system identification of complex dynamic systems encountered in diverse fields such as Biology, Computation, Statistics, Mechanics and Electrical Engineering.
ContributorsNaik, Manjish Arvind (Author) / Cochran, Douglas (Thesis advisor) / Kovvali, Narayan (Committee member) / Kawski, Matthias (Committee member) / Platte, Rodrigo (Committee member) / Arizona State University (Publisher)
Created2011
Description
There is increasing interest in the medical and behavioral health communities towards developing effective strategies for the treatment of chronic diseases. Among these lie adaptive interventions, which consider adjusting treatment dosages over time based on participant response. Control engineering offers a broad-based solution framework for optimizing the effectiveness of such interventions. In this thesis, an approach is proposed to develop dynamical models and subsequently, hybrid model predictive control schemes for assigning optimal dosages of naltrexone, an opioid antagonist, as treatment for a chronic pain condition known as fibromyalgia. System identification techniques are employed to model the dynamics from the daily diary reports completed by participants of a blind naltrexone intervention trial. These self-reports include assessments of outcomes of interest (e.g., general pain symptoms, sleep quality) and additional external variables (disturbances) that affect these outcomes (e.g., stress, anxiety, and mood). Using prediction-error methods, a multi-input model describing the effect of drug, placebo and other disturbances on outcomes of interest is developed. This discrete time model is approximated by a continuous second order model with zero, which was found to be adequate to capture the dynamics of this intervention. Data from 40 participants in two clinical trials were analyzed and participants were classified as responders and non-responders based on the models obtained from system identification. The dynamical models can be used by a model predictive controller for automated dosage selection of naltrexone using feedback/feedforward control actions in the presence of external disturbances. The clinical requirement for categorical (i.e., discrete-valued) drug dosage levels creates a need for hybrid model predictive control (HMPC). The controller features a multiple degree-of-freedom formulation that enables the user to adjust the speed of setpoint tracking, measured disturbance rejection and unmeasured disturbance rejection independently in the closed loop system. The nominal and robust performance of the proposed control scheme is examined via simulation using system identification models from a representative participant in the naltrexone intervention trial. The controller evaluation described in this thesis gives credibility to the promise and applicability of control engineering principles for optimizing adaptive interventions.
ContributorsDeśapāṇḍe, Sunīla (Author) / Rivera, Daniel E. (Thesis advisor) / Si, Jennie (Committee member) / Tsakalis, Konstantinos (Committee member) / Arizona State University (Publisher)
Created2011
Description
It is possible in a properly controlled environment, such as industrial metrology, to make significant headway into the non-industrial constraints on image-based position measurement using the techniques of image registration and achieve repeatable feature measurements on the order of 0.3% of a pixel, or about an order of magnitude improvement on conventional real-world performance. These measurements are then used as inputs for a model optimal, model agnostic, smoothing for calibration of a laser scribe and online tracking of velocimeter using video input. Using appropriate smooth interpolation to increase effective sample density can reduce uncertainty and improve estimates. Use of the proper negative offset of the template function has the result of creating a convolution with higher local curvature than either template of target function which allows improved center-finding. Using the Akaike Information Criterion with a smoothing spline function it is possible to perform a model-optimal smooth on scalar measurements without knowing the underlying model and to determine the function describing the uncertainty in that optimal smooth. An example of empiric derivation of the parameters for a rudimentary Kalman Filter from this is then provided, and tested. Using the techniques of Exploratory Data Analysis and the "Formulize" genetic algorithm tool to convert the spline models into more accessible analytic forms resulted in stable, properly generalized, KF with performance and simplicity that exceeds "textbook" implementations thereof. Validation of the measurement includes that, in analytic case, it led to arbitrary precision in measurement of feature; in reasonable test case using the methods proposed, a reasonable and consistent maximum error of around 0.3% the length of a pixel was achieved and in practice using pixels that were 700nm in size feature position was located to within ± 2 nm. Robust applicability is demonstrated by the measurement of indicator position for a King model 2-32-G-042 rotameter.
ContributorsMunroe, Michael R (Author) / Phelan, Patrick (Thesis advisor) / Kostelich, Eric (Committee member) / Mahalov, Alex (Committee member) / Arizona State University (Publisher)
Created2012
Description
This thesis considers the application of basis pursuit to several problems in system identification. After reviewing some key results in the theory of basis pursuit and compressed sensing, numerical experiments are presented that explore the application of basis pursuit to the black-box identification of linear time-invariant (LTI) systems with both finite (FIR) and infinite (IIR) impulse responses, temporal systems modeled by ordinary differential equations (ODE), and spatio-temporal systems modeled by partial differential equations (PDE). For LTI systems, the experimental results illustrate existing theory for identification of LTI FIR systems. It is seen that basis pursuit does not identify sparse LTI IIR systems, but it does identify alternate systems with nearly identical magnitude response characteristics when there are small numbers of non-zero coefficients. For ODE systems, the experimental results are consistent with earlier research for differential equations that are polynomials in the system variables, illustrating feasibility of the approach for small numbers of non-zero terms. For PDE systems, it is demonstrated that basis pursuit can be applied to system identification, along with a comparison in performance with another existing method. In all cases the impact of measurement noise on identification performance is considered, and it is empirically observed that high signal-to-noise ratio is required for successful application of basis pursuit to system identification problems.
ContributorsThompson, Robert C. (Author) / Platte, Rodrigo (Thesis advisor) / Gelb, Anne (Committee member) / Cochran, Douglas (Committee member) / Arizona State University (Publisher)
Created2012
Description
Power Management circuits are employed in almost all electronic equipment and they have energy storage elements (capacitors and inductors) as building blocks along with other active circuitry. Power management circuits employ feedback to achieve good load and line regulation. The feedback loop is designed at an operating point and component values are chosen to meet that design requirements. But the capacitors and inductors are subject to variations due to temperature, aging and load stress. Due to these variations, the feedback loop can cross its robustness margins and can lead to degraded performance and potential instability. Another issue in power management circuits is the measurement of their frequency response for stability assessment. The standard techniques used in production test environment require expensive measurement equipment (Network Analyzer) and time. These two issues of component variations and frequency response measurement can be addressed if the frequency response of the power converter is used as measure of component (capacitor and inductor) variations. So, a single solution of frequency response measurement solves both the issues. This work examines system identification (frequency response measurement) of power management circuits based on cross correlation technique and proposes the use of switched capacitor correlator for this purpose. A switched capacitor correlator has been designed and used in the system identification of Linear and Switching regulators. The obtained results are compared with the standard frequency response measurement methods of power converters.
ContributorsMalladi, Venkata Naga Koushik (Author) / Bakkaloglu, Bertan (Thesis advisor) / Kitchen, Jennifer (Committee member) / Ogras, Umit Y. (Committee member) / Arizona State University (Publisher)
Created2015
Description
The lack of healthy behaviors - such as physical activity and balanced diet - in
modern society is responsible for a large number of diseases and high mortality rates in
the world. Adaptive behavioral interventions have been suggested as a way to promote
sustained behavioral changes to address these issues. These adaptive interventions
can be modeled as closed-loop control systems, and thus applying control systems
engineering and system identification principles to behavioral settings might provide
a novel way of improving the quality of such interventions.
Good understanding of the dynamic processes involved in behavioral experiments
is a fundamental step in order to design such interventions with control systems ideas.
In the present work, two different behavioral experiments were analyzed under the
light of system identification principles and modelled as dynamic systems.
In the first study, data gathered over the course of four days served as the basis for
ARX modeling of the relationship between psychological constructs (negative affect
and self-efficacy) and the intensity of physical activity. The identified models suggest
that this behavioral process happens with self-regulation, and that the relationship
between negative affect and self-efficacy is represented by a second order underdamped
system with negative gain, while the relationship between self-efficacy and physical
activity level is an overdamped second order system with positive gain.
In the second study, which consisted of single-bouts of intense physical activity,
the relation between a more complex set of behavioral variables was identified as a
semi-physical model, with a theoretical set of system equations derived from behavioral
theory. With a prescribed set of physical activity intensities, it was found that less fit
participants were able to get higher increases in affective state, and that self-regulation
processes are also involved in the system.
modern society is responsible for a large number of diseases and high mortality rates in
the world. Adaptive behavioral interventions have been suggested as a way to promote
sustained behavioral changes to address these issues. These adaptive interventions
can be modeled as closed-loop control systems, and thus applying control systems
engineering and system identification principles to behavioral settings might provide
a novel way of improving the quality of such interventions.
Good understanding of the dynamic processes involved in behavioral experiments
is a fundamental step in order to design such interventions with control systems ideas.
In the present work, two different behavioral experiments were analyzed under the
light of system identification principles and modelled as dynamic systems.
In the first study, data gathered over the course of four days served as the basis for
ARX modeling of the relationship between psychological constructs (negative affect
and self-efficacy) and the intensity of physical activity. The identified models suggest
that this behavioral process happens with self-regulation, and that the relationship
between negative affect and self-efficacy is represented by a second order underdamped
system with negative gain, while the relationship between self-efficacy and physical
activity level is an overdamped second order system with positive gain.
In the second study, which consisted of single-bouts of intense physical activity,
the relation between a more complex set of behavioral variables was identified as a
semi-physical model, with a theoretical set of system equations derived from behavioral
theory. With a prescribed set of physical activity intensities, it was found that less fit
participants were able to get higher increases in affective state, and that self-regulation
processes are also involved in the system.
ContributorsSeixas, Gustavo Mesel Lobo (Author) / Rivera, Daniel E (Thesis advisor) / Peet, Matthew M (Committee member) / Alford, Terry L. (Committee member) / Arizona State University (Publisher)
Created2016
Description
Shoulder injuries are the leading cause of shoulder discomfort or disabilities. Assessment of the glenohumeral joint functions through system identification technique approach is beneficial considering glenohumeral joint has major contributing factors associated with shoulder movement and stability. This function is identified by estimating a mathematical model by perturbing the glenohumeral joint and measuring the input angle and output torque. In this study, a shoulder exoskeleton robot was utilized, which makes use of a 4-bar spherical parallel manipulator (4B-SPM). The 4B-SPM exoskeleton has the advantage of high acceleration, fast enough to satisfy the speed requirement for the characterization of distinct neuromuscular properties of shoulder. Thirty-four healthy subjects (17 female, 17 male) were appointed with no history of shoulder impairment to characterize shoulder joint stiffness by providing filtered gaussianrandom perturbations with RMS value, frequency of 2 degrees and 3 Hz respectively. These perturbations arecaptured by 3-D Motion capture system by placing markers on arm brace which allows arm to be locked at a particular pose. Participants were instructed to maintain a relaxed state to avoid the interference of the muscle activation on the mechanical properties of the shoulder. Torque was measured using Force-Torque (FT) sensor at 15 different postures. These postures were divided among 3 flexion angles of the shoulder with a set of 5 horizontal extension postural configuration quantified for each flexion angle. The stiffness characterization was performed by utilizing Short Data Segment (SDS) method of time-varying system identification. It was observed that shoulder joint stiffness varied significantly depending on the arm's posture. The shoulder joint stiffness was observed to increase as the flexion angle decreases. Notably, a convex pattern emerged, wherein stiffness values increased as the arm deviated further from the mid-range of the shoulder joint's range of motion (ROM) in horizontal extension directions. These findings
suggest that maintaining the arm's posture near the mid-range of ROM decreases the stability of the shoulder joint. The shoulder joint stiffness was also observed to have significant difference on the basis of gender where in male
subjects were observed to have higher joint stiffness than female subjects.
ContributorsSaxena, Aditya (Author) / Lee, Hyunglae HL (Thesis advisor) / Marvi, Hamidreza HM (Committee member) / Xu, Zhe ZX (Committee member) / Arizona State University (Publisher)
Created2023