An investigation of the effects of human dynamics on system stability and performance
İnsan dinamiğinin sistem kararlılığı ve performansına etkilerinin incelenmesi
- Tez No: 520650
- Danışmanlar: Assist. Prof. Dr. YILDIRAY YILDIZ
- Tez Türü: Yüksek Lisans
- Konular: Makine Mühendisliği, Mechanical Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2018
- Dil: İngilizce
- Üniversite: İhsan Doğramacı Bilkent Üniversitesi
- Enstitü: Mühendislik ve Fen Bilimleri Enstitüsü
- Ana Bilim Dalı: Makine Mühendisliği Ana Bilim Dalı
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 96
Özet
Özet yok.
Özet (Çeviri)
Considered as a challenging element of closed-loop structures, the human operator, and his/her interactions with the underlying system, should be carefully analyzed to obtain a safe and high performing system. In this thesis, the interaction between human dynamics and the closed loop system is investigated for two different scenarios. The first scenario consists of a flight control system controlled by an adaptive controller. A telerobotic system where the controllers are conventional linear controllers is analyzed in the second scenario. Although model reference adaptive control (MRAC) offers mathematical design tools to effectively cope with many challenges of the real world control problems such as exogenous disturbances, system uncertainties, and degraded modes of operations, when faced with human-in-the-loop settings, these controllers can lead to unstable system trajectories in certain applications. To establish an understanding of stability limitations of MRAC architectures in the presence of humans, a mathematical framework is developed for the first scenario, whereby an MRAC is designed in conjunction with a class of linear human models including human reaction delays. This framework is then used to reveal, through stability analysis tools, the stability limit of the MRAC-human closed loop system and the range of model parameters respecting this limit. An illustrative numerical example of an adaptive flight control application with a Neal-Smith pilot model is utilized to demonstrate the effectiveness of the developed approaches. The effect of a linear filter, inserted between the human model and MRAC, on the closed loop stability is also investigated. Related to this, a mathematical approach to study how the error dynamics of MRAC could favorably or unfavorably influence human operator's error dynamics in performing a certain task is analyzed. An illustrative numerical example concludes the study. For the second scenario, stability properties of three different human-in-the-loop telerobotic system architectures are comparatively investigated, in the presence of human reaction time-delay and communication time-delays. The challenging problem of stability characterization of systems with multiple time-delays is addressed by implementing rigorous stability analysis tools, and the results are verified via numerical illustrations. Practical insights about the results of the stability investigations are also provided. Finally, apart from these scenarios, after the observation that a simple linear transfer function model for a real force reflecting haptic device, which is used in telerobotics applications, is missing, a data-driven and first principles modeling of the Geomagic\textsuperscript{\textregistered} Touch\textsuperscript{TM} (formerly PHANToM\textsuperscript{\textregistered} Omni\textsuperscript{\textregistered}) haptic device is considered. A simple linear model is provided for one of the degrees of freedom based on fundamental insights into the device structure and in light of experimental observations.
Benzer Tezler
- Dizel jeneratör motorlarında egzoz geri basıncının emisyon ve performansa etkisinin incelenmesi
Investigation of the effect of exhaust back pressure on emission and performance in diesel generator engines
YALÇIN DOĞAN
Yüksek Lisans
Türkçe
2021
Makine Mühendisliğiİstanbul Teknik ÜniversitesiMakine Mühendisliği Ana Bilim Dalı
PROF. DR. YAKUP ERHAN BÖKE
- Esnek üretim sistemleri için bir etkin üretim denetleme modeli
An Effective supervisory control model for flexible manufacturing systems
BAHAR KORKUSUZ
Doktora
Türkçe
1989
Endüstri ve Endüstri Mühendisliğiİstanbul Teknik ÜniversitesiPROF.DR. GÖNÜL YENERSOY
- Bebeklerde ve annelerinde bebek-taşıyıcısının postüral denge üzerindeki akut etkisinin araştırılması
Investigation of the acute effect of baby-carrier on postural balance in babies and their mothers
SEVGİ PEHLİVAN
Yüksek Lisans
Türkçe
2023
Fizyoterapi ve RehabilitasyonBezm-i Alem Vakıf ÜniversitesiFizyoterapi ve Rehabilitasyon Ana Bilim Dalı
DR. ÖĞR. ÜYESİ MÜBERRA TANRIVERDİ
- Aort kapağı kan akımının katı-sıvı etkileşim yöntemiyle sayısal incelenmesi
Numerical investigation of the aortic valve blood flow using fluid-structure approach
ARMİN AMİNDARİ
Doktora
Türkçe
2022
Biyomühendislikİstanbul Teknik ÜniversitesiMakine Mühendisliği Ana Bilim Dalı
PROF. DR. KADİR KIRKKÖPRÜ
- District-based urban sprawl monitoring and modelling using CA-Markov model: application in two mega cities
İlçe bazlı kentsel yayılma izleme ve CA-Markov model ile modelleme: iki mega şehirde uygulama
ANALI AZABDAFTARI
Doktora
İngilizce
2022
İletişim Bilimleriİstanbul Teknik Üniversitesiİletişim Sistemleri Ana Bilim Dalı
PROF. DR. AYŞE FİLİZ SUNAR