Development of a Control System for a Tele Operated Mobile Robot

Mobile robots are capable of performing spatial displacement motions in different environments. This motions can be calculated based on sensorial data (autonomous robot) or given by an operator (tele operated robot). This thesis is focused on the latter providing the control architecture which bridges the tele operator and the robot’s locomotion system and end effectors. Such a task might prove overwhelming in cases where the robot comprises a wide variety of sensors and actuators hence a relatively new option was selected: Robot Operating System (ROS). The control system of a new robot will be sketched and tested in a simulation model using ROS together with Gazebo in order to determine the viability of such a system. The simulated model will be based on the projected shape and main features of the real machine. A stability analysis will be performed first theoretically and afterwards using the developed model. This thesis concluded that both the physical properties and the control architecture are feasible and stable settling up the ground for further work with the same robot.

Genomic architecture of sickle cell disease clinical variation in children from West Africa : a case-control study design

Contexte : L’anémie falciforme ou drépanocytose est un problème de santé important, particulièrement pour les patients d’origine africaine. La variation phénotypique de l’anémie falciforme est problématique pour le suivi et le traitement des patients. L’architecture génomique responsable de cette variabilité est peu connue. Principe : Mieux saisir la contribution génétique de la variation clinique de cette maladie facilitera l’identification des patients à risque de développer des phénotypes sévères, ainsi que l’adaptation des soins. Objectifs : L’objectif général de cette thèse est de combler les lacunes relatives aux connaissances sur l’épidémiologie génomique de l’anémie falciforme à l’aide d’une cohorte issue au Bénin. Les objectifs spécifiques sont les suivants : 1) caractériser les profils d’expressions génomiques associés à la sévérité de l’anémie falciforme ; 2) identifier des biomarqueurs de la sévérité de l’anémie falciforme ; 3) identifier la régulation génétique des variations transcriptionelles ; 4) identifier des interactions statistiques entre le génotype et le niveau de sévérité associé à l’expression ; 5) identifier des cibles de médicaments pour améliorer l’état des patients atteints d’anémie falciforme. Méthode : Une étude cas-témoins de 250 patients et 61 frères et soeurs non-atteints a été menée au Centre de Prise en charge Médical Intégré du Nourrisson et de la Femme Enceinte atteints de Drépanocytose, au Bénin entre février et décembre 2010. Résultats : Notre analyse a montré que des profils d’expressions sont associés avec la sévérité de l’anémie falciforme. Ces profils sont enrichis de génes des voies biologiques qui contribuent à la progression de la maladie : l’activation plaquettaire, les lymphocytes B, le stress, l’inflammation et la prolifération cellulaire. Des biomarqueurs transcriptionnels ont permis de distinguer les patients ayant des niveaux de sévérité clinique différents. La régulation génétique de la variation de l’expression des gènes a été démontrée et des interactions ont été identifiées. Sur la base de ces résultats génétiques, des cibles de médicaments sont proposées. Conclusion: Ce travail de thèse permet de mieux comprendre l’impact de la génomique sur la sévérité de l’anémie falciforme et ouvre des perspectives de développement de traitements ciblés pour améliorer les soins offerts aux patients.

A HOLISTIC APPROACH TO MANUFACTURING SYSTEM DESIGN IN THE DEFENSE AEROSPACE INDUSTRY

Manufacturing has evolved to become a critical element of the competitive skill set of defense aerospace firms. Given the changes in the acquisition environment and culture; traditional “thrown over the wall” means of developing and manufacturing products are insufficient. Also, manufacturing systems are complex systems that need to be carefully designed in a holistic manner and there are shortcomings with available tools and methods to assist in the design of these systems. This paper outlines the generation and validation of a framework to guide this manufacturing system design process.

A Holistic Approach to Manufacturing System Design in the Defense Aerospace Industry

Manufacturing has evolved to become a critical element of the competitive skill set of defense aerospace firms. Given the changes in the acquisition environment and culture; traditional “thrown over the wall” means of developing and manufacturing products are insufficient. Also, manufacturing systems are complex systems that need to be carefully designed in a holistic manner and there are shortcomings with available tools and methods to assist in the design of these systems. This paper outlines the generation and validation of a framework to guide this manufacturing system design process.

Semiactive backstepping control for vibration attenuation in structures equipped with magnetorheological actuatorscat

This paper deals with the problem of semiactive vibration control of civil engineering structures subject to unknown external disturbances (for example, earthquakes, winds, etc.). Two kinds of semiactive controllers are proposed based on the backstepping control technique. The experimental setup used is a 6-story test structure equipped with shear-mode semiactive magnetorheological dampers being installed in the Washington University Structural Control and Earthquake Engineering Laboratory (WUSCEEL). The experimental results obtained have verified the effectiveness of the proposed control algorithms

System Design: Introduction to Group Work

In this course you will learn a number of different ways in which to describe a system, at both a high level (using SSM) and a low level (using UML). The main coursework for the course is to work in groups and use these techniques on a case study of your collective choosing. In this session we put the students into groups, run a brainstorming activity on potential businesses, and outline some of the group activities that will be required over the course.

System Design: Using UML Use Cases

In this lecture we cover how UML Use Cases can be used for requirements capture. We look at the anatomy of a Use Case Description, and the way in which use cases can be brought together in a use case diagram. We also look at the way that use cases can be derived from problems using noun verb analysis.

System Design: UML Class Diagrams

In this session we look at UML Class Diagrams and how they fit into both the family of UML models, and also the software engineering process. We look at some basic features of class diagrams including properties, operations, associations, generalisation, aggregation and composition.

System Design: Alternative Individual Assessment Scenario

This is the scenario used in the course when individuals are unable to participate in group work. It includes a written case study of a diary farm, and several news articles that describe various views on the business of dairy farming.

Development of an air-scour control system for membrane bioreactors

The thesis involves the development and implementation of a new and robust control system based on permeability trends but at the same time capable of reducing aeration proportionally to permeate flux. Permeability was made a key parameter for directly comparing temporary changes in membrane performance. Transmembrane pressure and flux were gathered every 10 seconds and permeability values were automatically calculated; different mathematical algorithms were applied for the signal filtering of on-line data. Short term and long term permeability trends were compared once a day, and a control action was applied proportionally to the short term/long term permeability ratio without exceeding the aeration flow recommended by the membrane suppliers.

Wind turbine blade pitch control system

The present invention provides an improvement for a wind turbine (20) having at least one blade (21) mounted on a hub (22) for controlled rotation about a blade axis (yb-yb) to vary the pitch of the blade relative to an airstream. The hub is mounted on a nacelle (23) for rotation about a hub axis (xh-xh). The wind turbine includes a main pitch control system for selectively controlling the pitch of the blade, and/or a safety pitch control system for overriding the main blade pitch control system and for causing the blade to move toward a feathered position in the event of an overspeed or fault condition. The improvement includes: an energy storage device (26) mounted on the nacelle and associated with the blade; a pitch-axis controller (25) mounted on the nacelle and associated with the blade and with the energy storage device; an electro-mechanical actuator (28) mounted on the hub and associated with the blade; and at least one slip ring (29) operatively arranged to transmit power and/or data signals between the pitch-axis controller and the electro-mechanical actuator; whereby the mass on the rotating hub may be reduced.

Preliminary results from a real time control system using optical information

Successful results from training an adaptive controller to use optical information to balance an inverted pendulum are presented in comparison to the training requirements using traditional controller inputs. Results from research into the psychology of the sense of balance in humans are presented as the motivation for the investigation of this new type of controller. The simulated model of the inverted pendulum and the virtual reality environments used to provide the optical input are described The successful introduction of optical information is found to require the preservation of at least two of the traditional input types and entail increased training time for the adaptive controller and reduced performance (measured as the time the pendulum remains upright).

Results of applying sensor fusion to a control system using optic flow

The results from applying a sensor fusion process to an adaptive controller used to balance all inverted pendulum axe presented. The goal of the sensor fusion process was to replace some of the four mechanical measurements, which are known to be sufficient inputs for a linear state feedback controller to balance the system, with optic flow variables. Results from research into the psychology of the sense of balance in humans were the motivation for the investigation of this new type of controller input. The simulated model of the inverted pendulum and the virtual reality environments used to provide the optical input are described. The successful introduction of optical information is found to require the preservation of at least two of the traditional input types and entail increased training till-le for the adaptive controller and reduced performance (measured as the time the pendulum remains upright)