Naim A. Kheir

Control systems engineering education

This comprehensive article deals with the important field of control systems engineering education. Efforts have been made to present some historical perspectives, major concepts and thoughts on a practical curriculum when this field is viewed as a discipline. Also discussed are curricular issues including typical laboratory systems with emphasis on the role of simulation, logic and sequencing, and real-time simulation. An elaborate section is devoted to CACE software, its role in teaching and learning, potential shortfalls, and trends in software development and use. Views from industry are sought in terms of desirable skills in the practicing engineer and continuing education needs. A survey of a few academic programs and a complete list of textbooks in control over the past three decades appear in the appendices.

Computer Simulation and Animation Environment for Control Education

Abstract Today’s advanced microcomputers offer extremely fast processing speed and vibrant high-resolution color graphics capabilities at affordable cost. By using carefully developed courseware (software used for coursework), these technologies can be used to strengthen engineering course delivery and provide laboratory innovation. This paper describes an interactive computer visualization environment in which real-time simulation and animation (RTSA) is used to significantly enhance control engineering curricula. Presented is the potential impact of the proposed environment on control engineering education with illustrative examples. The roles of this new interactive computer learning experience in control engineering curriculum are two-fold: 1) To provide a new method for delivering classroom material whereby real-world control system engineering concepts are introduced via interative RTSA, and 2) To provide an opportunity innovative laboratory assignments where students can analyze, design and modify control engineering systems via interactive RTSA. Positive acceptance and reactions have been widely received from users and audiences of RTSA programs which were incorporated in research projects and control curricula at Oakland University.

Platform Stabilization with Novel Active Suspension

Abstract It is widely held in industry that the ride and handling of current production automobiles has reached a point of technical development where marked improvements in vehicle performance using passive technology are doubtful. Ride motion of the occupant and roll angle of the vehicle muing cornering are traded-off during the vehicle development process. This paper discusses the novel approach for suspension system design and control that permits improvement in ride motion using reduced ride frequency and a decrease in vehicle roll gain, with the required increase in roll stiffness. The resulting system solution skillfully combines the required control, control strategy and mechanical actuator configuration

Rapid Prototyping of Embedded Microcontrollers for Mechatronic Systems

Abstract Engineering development of a sophisticated mechatronics system often requires team effort of engineers with control, computer, electronics and mechanical engineering as well as systems engineering management backgrounds. Because of the multidisciplinary nature of mechatronics, it became clear that there is a true need for an engineering tool to systemize the process of the development. In this paper we present one such new tool called ASCET-SD Schematic Development Environment, that allows mechatronics team members to readily communicate with one another through computer simulation, controller emulation, on-line testing and evaluation of embedded controllers. The bottom line is that the integrated environment allows the whole team engineers to readily take hold of the project from concept to realization of the mechatronic system

Optimal task planning and control of multi-robot coordinated workcells

Abstract This paper presents a concept of configuration manifolds and embeddings for dynamic systems. Using the concept, a task between two robot arms can be modeled as a virtual task transformation. Based on the Denavit-Hardenberg convention, the virtual task can further be determined in terms of six virtual parameters. Through the virtual task model and its dynamic analysis, four major optimal coordinated control criteria are proposed. These criteria will be useful to develop a number of multi-robot optimal coordinated control laws for typical industrial applications.

On-Line Multiple Component and Instrument Fault Diagnosis in Dynamic Systems

Abstract This paper presents a methodology, for on-line implementation, to diagnose failure(s) when it occurs in physical plant component(s) and/or Instrument(s). This methodology allows detecting component faults by a bank of matched filters. The detection of instrument failures is accomplished by a bank of full-order Luenberger .observers. A rule-based technique is also developed and used to Identify a failure. Simulation results of an aircraft model have shown that this diagnostic approach is applicable to a large number of failures, and the action to remove these failures is also possible via an automated process.