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In this paper we propose a Fault Detection and Isolation (FDI) filter design method for Spark Injection Engines. Starting from a detailed nonlinear Mean-value engine mathematical representation, a LPV approximation based on a judicious convex interpolation of a family of linearized models is obtained. An LPV-FDI filter based on the Luenberger observer theory is synthesized by ensuring guaranteed levels...
The aim of the paper is to present a multi-layer supervisory architecture for the design and development of integrated control systems in road vehicles. The performance specifications are guaranteed by the local controllers, while the coordination of these components is provided by the supervisor. Since monitoring components and the FDI filters provide the supervisor with information about the various...
A statistical multivariate model with minimum variance of the reconstruction error (VRE) has been tested with data captured in several tests of the Ariane's engine. Only reconstructible sensors according to the VRE criteria are included in the statistical model and the same criterion is used to determine the number of principal components to retain when creating the model with data acquired during...
Cryogenic products, such as Oxygen, Nitrogen or Argon, are commonly delivered to customers by the supplier. To do so, the supplier is responsible for managing the inventory of product at the customer site, in most cases. It is important to have access to an accurate estimation of the quantity of product stored at any time in cryogenic vessels to avoid run-outs for the customer and to optimize the...
In this paper we describe a novel pressure control approach applied to a Variable Bleed Solenoid (VBS) that resides inside a vehicle automatic transmission for clutch engaging purposes. The pressure control approach is based on a Neural Network Scheme that has been previously trained to learn from the inputs and outputs the nonlinear dynamics experimented on an automatic transmission working on the...
This paper presents different dynamic models of vehicles to compare their dynamics. The main objective is to appreciate the couplings between the different model blocks after splitting systems to five sub models. The passivity approach is used and illustrated by simulation results obtained by the proposed simulator SimK106N.
A Magneto-Rheologial (MR) damper exhibits a hysteretic and non-linear behavior. This behavior makes it a challenge to develop a model for the system. The present research is centered on analyzing and comparing three state-of-the-art models for MR dampers. NARX, Semi-Phenomenological, and Phenomenological models were selected. Experimental data was obtained using different input patterns. The models...
In this paper, an Artificial Neural Network (ANN) based approach using a new non-parametric residual, as input, is presented for damage diagnosis. The residual is associated with Observability null-space of the system and is generated by using parity matrices, obtained from covariance driven output-only Subspace Identification (SubID). The proposed residual is compared with existing subspace based...
The aim of this paper is to study the problem of control for a fishery fuzzy system model by using an output feedback controller, in order to regulate the stock states around a non-trivial equilibrium. In our case, the continuous fishery model is considered, where the effort is used as a control term, the age classes as a states and the quantity of captured fish per unit of effort as a measured output...
In this paper the problem of nonlinear system identification is investigated from a new point of view. If the nonlinear system is affected by measurement noise and if the noise cluster is arbitrarily far away, then there is no way to guarantee that any clustering algorithm will select the best cluster instead of the bad one. The proposed methodology is based to adding a noise cluster to clustering...
In this paper, an intelligent control architecture based on Fuzzy Logic, for a robotic grasping system capable of lifting and manipulating an uknown and fragile object is presented. A Fuzzy Logic Controller that adjusts the closing velocity of the fingers of a gripper based on clustering is designed. Initially an input-output data set is collected from successful grasp and lifting of a wide range...
The purpose of the work described in this paper is to assess the identification of a neuromuscular blockade model using the data obtained from the response of the first bolus during a general anesthesia. The aim is to use the identified model to help on the selection of a controller to be used during neuromuscular blockade control. The identification methodology explores the structure of the nonlinear...
This paper addresses the state estimation of two-time scale nonlinear systems by designing an unknown input multi-observer (UIMO). In order to design such an observer, the nonlinear system is transformed into an equivalent multiple model form and the fast dynamics are considered as unknown inputs. An application to a model of Wastewater Treatment Plants (WWTP) is considered and gives encouraging results.
The initialization of identification algorithms in anaesthesia is addressed in this paper. The two parameters of a minimally parameterized Wiener model for the NeuroMuscular Blockade (NMB) are identified online. A linear correlation was found between the parameter in the linear part of the model and the time the NMB response takes to drop from its initial value of 100% to 50% after the initial bolus...
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
We present results from our research into assistive robots for highly unstructured environments. The concrete type of robot we studied is a robotic scrub nurse (RSN) for microsurgery. In microsurgery the surgeon works behind a microscope and must maintain field of view as much as possible. The task of managing and delivering instruments to the surgeon rests with the scrub nurse. During our attempt...
In this paper, an obstacle avoidance method and a fuzzy control, together with a distributed system of embedded microcontrollers, are presented. In the real-time control, a wheeled mobile robot (WMR), Pioneer 3-DX, from Mobile Robots, has been used. The solution adopted can be easily ported for the implementation of an intelligent wheelchair, capable either to carry an elderly or disabled person,...
In this paper Dynamic Independent Component Analysis (DICA) is used for detecting and diagnosing faults in a wastewater treatment plant. ICA is a method in which the goal is to decompose a set of multivariate data into a base of statistically independent components without loss of information. The DICA monitoring method applies ICA to the augmenting matrix with time-lagged variables. The basic idea...
A large class of engineering systems are modeled by coupled Differential and algebraic Equations (DAEs), called also singular or descriptor systems. Due to the singular nature of the algebraic equations, descriptor systems do not satisfy the standard state-space description and require special techniques. So far, the literature has concentrated mostly on the numerical analysis and control aspects...
A method has been recently proposed for the supervisory control of real-time discrete event systems (RTDES). This method is based on a transformation, called SetExp, of timed automata (TA) into finite state automata. This SetExp-based method is computationally less complex than other realtime control methods, but it may synthesize less permissive supervisors. This paper improves significantly the...
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