Real-Time Experimental Control Workshop
The Mechanical, Aerospace, and Manufacturing (MAM) Engineering department at Polytechnic University announces a Real-Time Experimental Control Workshop to be held from May 29, 2000 to June 2, 2000. The workshop is directed at Ph.D. students, specializing in dynamic systems and control area, enrolled at U.S. universities. The MAM department will provide travel support for up to six students (maximum $700 each) to attend the workshop. To be considered for travel support, eligible candidates must send a complete application package consisting of a transmittal letter, curriculum vitae, and two letters of recommendation, to the contact address listed below. Review of applications will begin March 15, 2000. General (non-sponsored) applications/inquiries for enrollment are also welcome. This summer workshop opportunity is sponsored by the American Society of Mechanical Engineers-Dynamic Systems and Control Division, the NASA/NY Space Grant Consortium, and Quanser Consulting Inc.
Eligibility for participation
· Ph.D. status at a U.S. university
· Specialization in dynamic systems and control
Students Learn
- Practical applications of dynamic systems and control to servomotors, magnetic levitation, fluid level and flow control, nonlinear systems (e.g., 2 D.O.F. inverted pendulum, 3 D.O.F. helicopter, etc.), flexible structure systems, and open architecture robots.
- Real-time implementation of the classical (P, PI, and PID), modern (LQR, Pole-placement, and LQG), and nonlinear controllers in a rapid control prototyping environment (dSPACE-DS1102, Quanser-MultiQ, Real-Time-Workshop, Wincon, etc.).
- Application of Internet in developing and conducting Internet-based, real-time control laboratory.
Where:
Mechanical, Aerospace, and Manufacturing Engineering Department
Polytechnic University
Six Metrotech Center
Brooklyn, NY 11201
When:
Summer 2000 (May 29, 2000-June 2, 2000)
Contact:
Prof. Vikram Kapila
Polytechnic University
Six Metrotech Center
Brooklyn, NY 11201
vkapila@poly.edu
Update 1. (04/02/2000): The travel awards have been made as of 04/02/2000. Through the generous support of our sponsors, the MAM department at Polytechnic University, and the home institutions of sponsored students, seven graduate students will be funded to attend the workshop.
General Information: If you will travel to
NY city by air, the following information may be useful for you. There are three well-served and
well-connected airports in the vicinity:
JFK is connected to Brooklyn by subway. You take a free shuttle bus from the airport to the Howard Beach-JFK Airport subway station. At the subway, take the A train towards Manhattan. Get down at the Jay Street-Borough Hall stop. Polytechnic University is located on Jay Street (opposite the rear entrance of the Marriott) within walking distance (less than 2 to 3 minutes). The subway ride costs $1.50 one-way. Low travel cost but far.
From Newark you can take a bus (Olympia) to Manhattan’s Port Authority Bus Terminal for about $10.00. The bus terminal is internally connected to the Port Authority-42nd street subway station. Take the A train towards Brooklyn. Get down at the Jay Street-Borough Hall stop. Polytechnic University is located on Jay Street (opposite the rear entrance of the Marriott) within walking distance (less than 2 to 3 minutes). The subway ride costs $1.50 one-way. Do not quote me J, but Newark is notorious for flight cancellations.
From LaGuardia you can take a cab to Jay and Tillary Street ($20 to $25). This airport is my number 1 preference around here.
Note: The listed ride prices are best estimates only.
Summer Workshop Schedule
Monday 05/29/00
Morning
10:00 A.M. – 1:00 P.M.
· Introduction to the Real-time Control Laboratory at Polytechnic University: laboratory equipment, sensors, actuators, calibration, data acquisition hardware, real-time control environment, Internet-based controller implementation, remote monitoring, etc.
· System modeling for an inverted-pendulum-on-cart (IPC)
Afternoon 2:00 P.M. – 5:00 P.M.
· LQR design for linearized IPC dynamics
· Observer-based pole placement design for linearized IPC dynamics
· Controller implementation on physical hardware
· Discussions
Tuesday 05/30/00
Morning 10:00 A.M. – 1:00 P.M.
· Reduced-dimensional observer-based design for IPC
· LQG design technique with application to linearized IPC dynamics
· Controller implementation on physical hardware
Afternoon 2:00 P.M. – 5:00 P.M.
· System modeling for a rotary-inverted-pendulum (RIP)
· Design LQR-based stabilizing and tracking controllers for RIP
· Controller implementation on physical hardware
· Discussions
Wednesday 05/31/00
Morning 10:00 A.M. – 1:00 P.M.
· Design an LQG controller for RIP
· Design a nonlinear controller for the underactuated RIP
· Controller implementation on physical hardware
Afternoon 2:00 P.M. – 5:00 P.M.
· System modeling for a coupled water tank
· PI and LQ control design for coupled water tank
· Controller implementation on physical hardware
· Introduction to Nonlinear design techniques
· Discussions
Thursday 06/01/00
Morning 10:00 A.M. – 1:00 P.M.
· Model-based backstepping control design for coupled water tank
· Adaptive backstepping control design for coupled water tank
· Nonlinear controller implementation on physical hardware
Afternoon 2:00 P.M. – 5:00 P.M.
· Nonlinear controller implementation on physical hardware
· Controller comparison
· Discussions
Friday 06/02/00
Morning 10:00 A.M. – 1:00 P.M.
· System modeling for magnetic levitation system
· Linear controller design for Maglev
· Controller implementation on physical hardware
· Discussions
Afternoon 2:00 P.M. – 5:00 P.M.
· Free activities, demonstrations: active noise cancellation, five-link robot, process control, siglab, experimental system identification, etc.
· Workshop evaluation.