Closed Loop Diagnosis Using Submodels

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Closed Loop Diagnosis Using Submodels

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Author : Du Ho
language : en
Publisher: Linköping University Electronic Press
Release Date : 2025-04-30

Closed Loop Diagnosis Using Submodels written by Du Ho and has been published by Linköping University Electronic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-04-30 with categories.

Drones, like many other mechanical systems, operate under closed-loop control to ensure safety and economic efficiency. Real-time feedback is crucial for a drone to follow its predefined missions and to deal with hazardous conditions. Achieving optimal performance in such systems often requires a mathematical model, typically obtained using system identification techniques. Furthermore, monitoring changes in the system is essential, before an unexpected change leads to a fault and eventually a failure, causing costly disruptions of the system. This thesis investigates ways of obtaining robust fault detection and accurate parameter estimation in a closed-loop system. In detail, we focus on subsystems of larger systems where the parameters or changes are observable. This approach, referred to as submodeling, is adopted since examining the entire system dynamics can be challenging due to the complexities and interconnections between components. Moreover, it involves selecting and measuring only a subset of signals, which reduces the number of sensors required. However, the resulting submodels use certain measurements as the outputs and others as the inputs, yielding closed-loop errors-in-variables (EIV) problems. The first contribution addresses fault detection in closed-loop EIV systems. We apply a projection-based nonadditive fault detection method where the residual is projected to a subspace that is orthogonal to additive faults and disturbances. By doing so, we demonstrate that additive and nonadditive faults can be decoupled, making residuals sensitive only to the nonadditive ones. This allows the nonadditive fault to be detected accurately despite the occurrence of additive faults, closed-loop effects, and disturbances. In the second contribution, we establish a specific equivalence concept related to the residuals of models concerning input-output repartitionings, which is useful for studying estimators. Moreover, we show that the basic instrumental Variable (IV) estimator can yield equivalent estimates which are independent of the input-output partitionings, unlike other standard system identification methods. The algebraic equivalence of the basic IV estimates holds regardless of the true system structure, noise properties, and data length. The third contribution is to utilize the approach to derive submodels of a quadcopter. More specifically, we exploit the cancellation of shared dynamics between actual inputs and measured outputs, allowing for the elimination of some input signals. These submodels, addressing various aspects of the quadcopter’s dynamics, are simpler than a complete model but still sufficient for the intended applications. The fourth contribution is to validate all methods developed in this thesis using simulated and experimental data from a quadcopter. To do so, we apply a standard motion-planning framework based on the simulation model of the drone to establish a detailed experimental procedure. This procedure allows us to define scenarios similar to real-world tasks of the drone in a testbed and to obtain excitation trajectories that produce informative data. Both the simulated and experimental data-based validations show promising results.

Automatic Modeling And Fault Diagnosis Of Timed Concurrent Discrete Event Systems Automatische Modellierung Und Fehlerdiagnose Zeitlicher Nebenl Ufiger Ereignisdiskreter Systeme

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Author : Stefan Schneider
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2015-05-29

Automatic Modeling And Fault Diagnosis Of Timed Concurrent Discrete Event Systems Automatische Modellierung Und Fehlerdiagnose Zeitlicher Nebenl Ufiger Ereignisdiskreter Systeme written by Stefan Schneider and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-05-29 with Technology & Engineering categories.

The productive operation of machines and facilities is of great economic importance for industrial companies. In order to achieve high productivity, unscheduled production downtimes induced by faults need to be minimized. In this work, an approach for modelbased fault diagnosis of timed concurrent Discrete Event Systems is proposed that can contribute to this aim. The models are automatically determined by timed identification and partitioning. These approaches allow for efficient modeling of large and complex industrial systems with concurrent behavior requiring only little system knowledge. The work explains the theoretical and practical aspects of the presented approaches and gives a detailed evaluation based on a laboratory manufacturing system.

Intelligent Control Systems Using Computational Intelligence Techniques

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Author : A.E. Ruano
language : en
Publisher: IET
Release Date : 2005-07-18

Intelligent Control Systems Using Computational Intelligence Techniques written by A.E. Ruano and has been published by IET this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-07-18 with Computers categories.

Intelligent Control techniques are becoming important tools in both academia and industry. Methodologies developed in the field of soft-computing, such as neural networks, fuzzy systems and evolutionary computation, can lead to accommodation of more complex processes, improved performance and considerable time savings and cost reductions. Intelligent Control Systems using Computational Intellingence Techniques details the application of these tools to the field of control systems. Each chapter gives and overview of current approaches in the topic covered, with a set of the most important references in the field, and then details the author's approach, examining both the theory and practical applications.

Fault Diagnosis And Sustainable Control Of Wind Turbines

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Author : Silvio Simani
language : en
Publisher: Butterworth-Heinemann
Release Date : 2018-01-02

Fault Diagnosis And Sustainable Control Of Wind Turbines written by Silvio Simani and has been published by Butterworth-Heinemann this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-01-02 with Technology & Engineering categories.

Fault Diagnosis and Sustainable Control of Wind Turbines: Robust Data-Driven and Model-Based Strategies discusses the development of reliable and robust fault diagnosis and fault-tolerant ('sustainable') control schemes by means of data-driven and model-based approaches. These strategies are able to cope with unknown nonlinear systems and noisy measurements. The book also discusses simpler solutions relying on data-driven and model-based methodologies, which are key when on-line implementations are considered for the proposed schemes. The book targets both professional engineers working in industry and researchers in academic and scientific institutions. In order to improve the safety, reliability and efficiency of wind turbine systems, thus avoiding expensive unplanned maintenance, the accommodation of faults in their early occurrence is fundamental. To highlight the potential of the proposed methods in real applications, hardware–in–the–loop test facilities (representing realistic wind turbine systems) are considered to analyze the digital implementation of the designed solutions. The achieved results show that the developed schemes are able to maintain the desired performances, thus validating their reliability and viability in real-time implementations. Different groups of readers—ranging from industrial engineers wishing to gain insight into the applications' potential of new fault diagnosis and sustainable control methods, to the academic control community looking for new problems to tackle—will find much to learn from this work. - Provides wind turbine models with varying complexity, as well as the solutions proposed and developed by the authors - Addresses in detail the design, development and realistic implementation of fault diagnosis and fault tolerant control strategies for wind turbine systems - Addresses the development of sustainable control solutions that, in general, do not require the introduction of further or redundant measurements - Proposes active fault tolerant ('sustainable') solutions that are able to maintain the wind turbine working conditions with gracefully degraded performance before required maintenance can occur - Presents full coverage of the diagnosis and fault tolerant control problem, starting from the modeling and identification and finishing with diagnosis and fault tolerant control approaches - Provides MATLAB and Simulink codes for the solutions proposed

Some Results On Closed Loop Identification Of Quadcopters

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Author : Du Ho
language : en
Publisher: Linköping University Electronic Press
Release Date : 2018-11-21

Some Results On Closed Loop Identification Of Quadcopters written by Du Ho and has been published by Linköping University Electronic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-11-21 with categories.

In recent years, the quadcopter has become a popular platform both in research activities and in industrial development. Its success is due to its increased performance and capabilities, where modeling and control synthesis play essential roles. These techniques have been used for stabilizing the quadcopter in different flight conditions such as hovering and climbing. The performance of the control system depends on parameters of the quadcopter which are often unknown and need to be estimated. The common approach to determine such parameters is to rely on accurate measurements from external sources, i.e., a motion capture system. In this work, only measurements from low-cost onboard sensors are used. This approach and the fact that the measurements are collected in closed-loop present additional challenges. First, a general overview of the quadcopter is given and a detailed dynamic model is presented, taking into account intricate aerodynamic phenomena. By projecting this model onto the vertical axis, a nonlinear vertical submodel of the quadcopter is obtained. The Instrumental Variable (IV) method is used to estimate the parameters of the submodel using real data. The result shows that adding an extra term in the thrust equation is essential. In a second contribution, a sensor-to-sensor estimation problem is studied, where only measurements from an onboard Inertial Measurement Unit (IMU) are used. The roll submodel is derived by linearizing the general model of the quadcopter along its main frame. A comparison is carried out based on simulated and experimental data. It shows that the IV method provides accurate estimates of the parameters of the roll submodel whereas some other common approaches are not able to do this. In a sensor-to-sensor modeling approach, it is sometimes not obvious which signals to select as input and output. In this case, several common methods give different results when estimating the forward and inverse models. However, it is shown that the IV method will give identical results when estimating the forward and inverse models of a single-input single-output (SISO) system using finite data. Furthermore, this result is illustrated experimentally when the goal is to determine the center of gravity of a quadcopter.

Intelligent Operation And Maintenance For Subsea Production Systems

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Author : Baoping Cai
language : en
Publisher: Springer Nature
Release Date : 2025-06-29

Intelligent Operation And Maintenance For Subsea Production Systems written by Baoping Cai and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-06-29 with Technology & Engineering categories.

This book systematically explores the challenges and advancements in integrating intelligent technologies with ocean engineering, with a particular focus on three core topics of fault diagnosis, fault prognosis, and maintenance for subsea production systems in harsh environments. It specifically addresses subsea engineering, focusing on the intersection with intelligent technologies in operation and maintenance, and also appeals to scholars and engineers from various disciplines, including Mechanical Engineering, Electrical Engineering, Oil and Gas Production, Reliability Engineering, and other related fields. This book introduces the latest algorithmic models for fault diagnosis, prognosis and maintenance, grounded in advanced methodologies such as big data, digital twin, Bayesian Networks. It features comprehensive figures, detailed tables, and a novel presentation style, making complex research more accessible. Additionally, this book stands out for its systematic approach to integrating cutting-edge methodologies with practical applications, providing practical insights and demonstrating foresight in the field of intelligent operation and maintenance for subsea production systems. The book is intended for graduate students, researchers, practitioners, industry engineers, and maintenance professionals specializing in subsea engineering, marine technology, intelligent systems, oil and gas production systems, and alike.

Applications Of Human Performance Models To System Design

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Author : Grant R. McMillan
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-06-29

Applications Of Human Performance Models To System Design written by Grant R. McMillan and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-06-29 with Computers categories.

The human factors profession is currently attempting to take a more proactive role in the design of man-machine systems than has been character istic of its past. Realizing that human engineering contributions are needed well before the experimental evaluation of prototypes or operational systems, there is a concerted effort to develop tools that predict how humans will interact with proposed designs. This volume provides an over view of one category of such tools: mathematical models of human performance. It represents a collection of invited papers from a 1988 NATO Workshop. The Workshop was conceived and organized by NATO Research Study Group 9 (RSG.9) on "Modelling of Human Operator Behaviour in Weapon Systems". It represented the culmination of over five years of effort, and was attended by 139 persons from Europe, Canada, and the United States. RSG.9 was established in 1982 by Panel 8 of the Defence Research Group to accomplish the following objectives: * Determine the utility and state of the art of human performance modelling. * Encourage international research and the exchange of ideas. * Foster the practical application of modelling research. * Provide a bridge between the models and approaches adopted by engineers and behavioral scientists. * Present the findings in an international symposium.

Advances In Guidance Navigation And Control

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Author : Liang Yan
language : en
Publisher: Springer Nature
Release Date : 2025-02-27

Advances In Guidance Navigation And Control written by Liang Yan and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-02-27 with Technology & Engineering categories.

This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation, and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation, and control of miniature aircraft; and sensor systems for guidance, navigation and control, etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.

Dynamic Systems Biology Modeling And Simulation

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Author : Joseph DiStefano III
language : en
Publisher: Academic Press
Release Date : 2015-01-10

Dynamic Systems Biology Modeling And Simulation written by Joseph DiStefano III and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-01-10 with Science categories.

Dynamic Systems Biology Modeling and Simuation consolidates and unifies classical and contemporary multiscale methodologies for mathematical modeling and computer simulation of dynamic biological systems – from molecular/cellular, organ-system, on up to population levels. The book pedagogy is developed as a well-annotated, systematic tutorial – with clearly spelled-out and unified nomenclature – derived from the author's own modeling efforts, publications and teaching over half a century. Ambiguities in some concepts and tools are clarified and others are rendered more accessible and practical. The latter include novel qualitative theory and methodologies for recognizing dynamical signatures in data using structural (multicompartmental and network) models and graph theory; and analyzing structural and measurement (data) models for quantification feasibility. The level is basic-to-intermediate, with much emphasis on biomodeling from real biodata, for use in real applications. - Introductory coverage of core mathematical concepts such as linear and nonlinear differential and difference equations, Laplace transforms, linear algebra, probability, statistics and stochastics topics - The pertinent biology, biochemistry, biophysics or pharmacology for modeling are provided, to support understanding the amalgam of "math modeling with life sciences - Strong emphasis on quantifying as well as building and analyzing biomodels: includes methodology and computational tools for parameter identifiability and sensitivity analysis; parameter estimation from real data; model distinguishability and simplification; and practical bioexperiment design and optimization - Companion website provides solutions and program code for examples and exercises using Matlab, Simulink, VisSim, SimBiology, SAAMII, AMIGO, Copasi and SBML-coded models - A full set of PowerPoint slides are available from the author for teaching from his textbook. He uses them to teach a 10 week quarter upper division course at UCLA, which meets twice a week, so there are 20 lectures. They can easily be augmented or stretched for a 15 week semester course - Importantly, the slides are editable, so they can be readily adapted to a lecturer's personal style and course content needs. The lectures are based on excerpts from 12 of the first 13 chapters of DSBMS. They are designed to highlight the key course material, as a study guide and structure for students following the full text content - The complete PowerPoint slide package (~25 MB) can be obtained by instructors (or prospective instructors) by emailing the author directly, at: [email protected]

Quantitative Modeling Of Human Performance In Complex Dynamic Systems

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Author : National Research Council
language : en
Publisher: National Academies Press
Release Date : 1990-01-01

Quantitative Modeling Of Human Performance In Complex Dynamic Systems written by National Research Council and has been published by National Academies Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990-01-01 with Business & Economics categories.

This book describes and evaluates existing models of human performance and their use in the design and evaluation of new human-technology systems. Its primary focus is on the modeling of system operators who perform supervisory and manual control tasks. After an introduction on human performance modeling, the book describes information processing, control theory, task network, and knowledge-based models. It explains models of human performance in aircraft operations, nuclear power plant control, maintenance, and the supervisory control of process control systems, such as oil refineries. The book concludes with a discussion of model parameterization and validation and recommends a number of lines of research needed to strengthen model development and application.