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Design methodology for the servo control of high speed multi-axis machinery (BL): decoupling and synchronisation of a generic machine by blockwise decentralised MIMO control

Traditional machinery for manufacturing processes are characterised by actuators powered and co-ordinated by mechanical linkages driven from a central drive. Increasingly, these linkages are replaced by independent electrical drives, each performs a different task and follows a different motion profile, co-ordinated by computers. A design methodology for the servo control of high speed multi-axis machinery is proposed, based on the concept of a highly adaptable generic machine model. In addition to the dynamics of the drives and the loads, the model includes the inherent interactions between the motion axes and thus provides a Multi-Input Multi-Output (MIMO) description. In general, inherent interactions such as structural couplings between groups of motion axes are undesirable and needed to be compensated. On the other hand, imposed interactions such as the synchronisation of different groups of axes are often required. It is recognised that a suitable MIMO controller can simultaneously achieve these objectives and reconciles their potential conflicts. Both analytical and numerical methods for the design of MIMO controllers are investigated. At present, it is not possible to implement high order MIMO controllers for practical reasons. Based on simulations of the generic machine model under full MIMO control, however, it is possible to determine a suitable topology for a blockwise decentralised control scheme. The Block Relative Gain array (BRG) is used to compare the relative strength of closed loop interactions between sub-systems. A number of approaches to the design of the smaller decentralised MIMO controllers for these sub-systems has been investigated. For the purpose of illustration, a benchmark problem based on a 3 axes test rig has been carried through the design cycle to demonstrate the working of the design methodology.

Discontinuous control of multi-variable processes

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A coordinated control scheme for power demand changes in a PMSG based multi-terminal DC wind farm

Although maximum power point tracking (MPPT) is crucial in the design of a wind power generation system, the necessary control strategies should also be considered for conditions that require a power reduction, called de-loading in this paper. A coordinated control scheme for a proposed current source converter (CSC) based DC wind energy conversion system is presented in this paper. This scheme combines coordinated control of the pitch angle, a DC load dumping chopper and the DC/DC converter, to quickly achieve wind farm de-loading. MATLAB/Simulink simulations and experiments are used to validate the purpose and effectiveness of the control scheme, both at the same power level. © 2013 IEEE.

Ecological genetics of Melaleuca quinquenervia (Myrtaceae): Population variation in Florida and its influence on performance of the biological control agent Oxyops vitiosa (Coleoptera: Curculionidae)

Melaleuca quinquenervia (Cav.) Blake (Myrtaceae) was imported into Florida from Australia over a century ago as a landscape plant. A favorable climate and periodic wildfires helped M. quinquenervia thrive; it now occupies about 200,000 hectares in southern Florida. A biological control (i.e., biocontrol) program against M. quinquenervia has been initiated, but not all biocontrol releases are successful. Some scientists have argued that poor biocontrol agent success may relate to genetic differences among populations of invasive weeds. I tested this premise by determining (1) the number and origins of M. quinquenervia introductions into Florida, (2) whether multiple introduction events resulted in the partitioning of Florida's M. quinquenervia populations into discrete biotypes, and (3) whether Oxyops vitiosa, an Australia snout beetle imported to control this weed, might discriminate among putative M. quinquenervia biotypes. Careful scrutiny of early horticultural catalogs and USDA plant introduction records suggested at least six distinct introduction events. Allozyme analyses indicated that the pattern of these introductions, and the subsequent redistribution of progeny, has resulted in geographic structuring of the populations in southern Florida. For example, trees on Florida's Gulf Coast had a greater effective number of alleles and exhibited greater heterozygosity than trees on the Atlantic Coast. Essential oil yields from M. quinquenervia leaves followed a similar trend; Gulf Coast trees yielded nearly twice as much oil as Atlantic Coast trees when both were grown in a common garden. These differences were partially explained by the predominance of a chemical phenotype (chemotype) very rich in the sesquiterpene (E)-nerolidol in M. quinquenervia trees from the Gulf Coast, but rich in a mixture of the monoterpene 1,8-cineole and the sesquiterpene viridiflorol in trees from the Atlantic Coast. Performance of O. vitiosa differed dramatically in laboratory studies depending on the chemotype of the foliage they were fed. Larval survivorship was four-fold greater on the (E)-nerolidol chemotype. Growth was also greater, with adult O. vitiosa gaining nearly 50% more biomass on the (E)-nerolidol plants than on the second chemotype. The results of this study thus confirmed the premise that plant genotype can affect the population dynamics of insects released as weed biocontrols. ^

Cooperative and adaptive medium access control in multi-hop wireless networks

Due to low cost and easy deployment, multi-hop wireless networks become a very attractive communication paradigm. However, IEEE 802.11 medium access control (MAC) protocol widely used in wireless LANs was not designed for multi-hop wireless networks. Although it can support some kinds of ad hoc network architecture, it does not function efficiently in those wireless networks with multi-hop connectivity. Therefore, our research is focused on studying the medium access control in multi-hop wireless networks. The objective is to design practical MAC layer protocols for supporting multihop wireless networks. Particularly, we try to prolong the network lifetime without degrading performances with small battery-powered devices and improve the system throughput with poor quality channels. ^ In this dissertation, we design two MAC protocols. The first one is aimed at minimizing energy-consumption without deteriorating communication activities, which provides energy efficiency, latency guarantee, adaptability and scalability in one type of multi-hop wireless networks (i.e. wireless sensor network). Methodologically, inspired by the phase transition phenomena in distributed networks, we define the wake-up probability, which maintained by each node. By using this probability, we can control the number of wireless connectivity within a local area. More specifically, we can adaptively adjust the wake-up probability based on the local network conditions to reduce energy consumption without increasing transmission latency. The second one is a cooperative MAC layer protocol for multi-hop wireless networks, which leverages multi-rate capability by cooperative transmission among multiple neighboring nodes. Moreover, for bidirectional traffic, the network throughput can be further increased by using the network coding technique. It is a very helpful complement for current rate-adaptive MAC protocols under the poor channel conditions of direct link. Finally, we give an analytical model to analyze impacts of cooperative node on the system throughput. ^

Interactions between Paramoeba perurans, the causative agent of amoebic gill disease, and the blue mussel, Mytilus edulis

Acknowledgements The authors would like to thank staff at Marine Scotland Science Patricia White, Rebecca McIntosh, Julia Black and Mark Fordyce for their technical assistance and invaluable feedback on the project. Thanks also go to Alex Douglas at the University of Aberdeen for his advice on data analysis and statistics. For feedback on the manuscript thanks to Lesley McEvoy and Rhiannon Inkster at the NAFC Marine Centre. The study was supported by the Marine Collaborations Forum (MarCRF) which aims to develop cross-disciplinary research between the University of Aberdeen and Marine Scotland Science. Finally, thanks are also due to Scottish Fishermen's Trust for a student support bursary.