Search Results (23)

Continuous flight auger piles (CFAPs) are highly versatile and productive deep foundation elements. Known for their execution speed, low noise, and minimal vibration, they are extensively used in Brazil, particularly for urban projects or environmentally sensitive areas. Technologically, they employ a Real-Time Operation System (RTOS) to control the execution energy for each drilled pile. When used effectively, this energy-based monitoring system can provide information that replaces or correlates with other challenging-to-measure variables, accommodating the impact of various exogenous variables on a pile’s execution and performance. Foundation designers often define one or more characteristic lengths for different pile groups, considered representative for each group despite uncertainties and morphological changes along the terrain. Hence, considering an energy-based control, which enables an individual assessment for each pile, is beneficial given soil’s complexity, which can vary significantly even within a small area. By determining the optimal execution energy, individualized stopping criteria for piles can be established, directly influencing costs and productivity and enhancing reliability. The present paper proposes a methodological workflow to automate the necessary calculations for execution energies, correlate them with bearing capacities measured by load tests or estimated from standard soil surveys, and predict the execution energy and corresponding stopping criteria for the drilling depth of each pile. This study presents a case study to illustrate the methodology proposed, accounting for a real construction site with multiple piles. It shows that considering fixed-length piles may not favor safety, as the energy-based analysis revealed that some piles needed longer shafts. This study also shows that for the 316 CFAPs analyzed with depths ranging from 8 to 14 m, a total of 564 m of pile shafts was unnecessary (which accounted for more than 110 m³ of concrete), indicating that cost optimization is possible. Overall, these analyses improve design safety and reliability while reducing execution costs. The results demonstrate that execution energy can serve as a proxy for subsurface resistance, correlating well with NSPT values and bearing capacity estimations. The methodology enables the individualized assessment of pile performance and reveal the potential for improving the reliability and cost-effectiveness of the geotechnical design process. Full article

With the rapid development of Computerized Numerical Control (CNC) systems, traditional industrial communication protocols fail to meet the requirements for high real-time performance and reliability. To address these challenges, an open five-axis CNC system is designed and implemented based on the gLink-II bus protocol. This system features a layered architecture that integrates the Windows operating system with a Real-Time Operating System (RTOS) kernel, along with a multithreaded data interaction structure based on a circular buffer to enhance real-time data transmission performance and improve system responsiveness. In the direct linear interpolation control for five-axis machining, an acceleration and deceleration planning method is introduced, taking into account the kinematic constraints of the rotary axes. This method optimizes velocity and acceleration control. The experimental results show that the system achieves a maximum response error of less than 0.2 milliseconds and an interpolation period of less than 0.5 milliseconds in five-axis coordinated control. The system is capable of efficiently performing data processing and task scheduling, ensuring the stability of the CNC machining process. Full article

The rising popularity of UAVs and other autonomous control systems coupled with real-time operating systems has increased the complexity of developing systems with the proper robustness, performance, and reactivity. The growing demand for more sophisticated computational tasks, proportionally larger payloads, battery limitations, and smaller take-off mass requires higher energy efficiency for all avionics and mission computers. This paper aims to develop a technique for experimentally studying the indicators of reactivity and energy consumption in a computing platform for unmanned aerial vehicles (UAVs). The paper provides an experimental assessment of the ‘Boryviter 0.1’ computing platform, which is implemented on the ATSAMV71 microprocessor and operates under the open-source FreeRTOS operating system. The results are the basis for developing algorithms and energy-efficient design strategies for the mission computer to solve the optimization problem. This paper provides experimental results of measurements of the energy consumed by the microcontroller and estimates of the reduction in system energy consumption due to additional time costs for suspending and resuming the computer’s operation. The results show that the ‘Boryviter 0.1’ computing platform can be used as a UAV mission computer for typical flight control tasks requiring real-time computing under the influence of external factors. As a further work direction, we plan to investigate the proposed energy-saving algorithms within the planned NASA F’Prime software flight framework. Such an investigation, which should use the mission computer’s actual flight computation load, will help to qualify the obtained energy-saving methods and their implementation results. Full article

Existing control strategies, such as Real-time Optimization (RTO), Dynamic Real-time Optimization (DRTO), and Economic Model Predictive Control (EMPC) cannot enable optimal operation and control behavior in an optimal fashion. This work proposes a novel control strategy, named the efficiency-oriented model predictive control (MPC), which can fully realize the potential of the optimization margin to improve the global process performance of the whole system. The ideas of optimization margin and optimization efficiency are first proposed to measure the superiority of the control strategy. Our new efficiency-oriented MPC innovatively uses a nested optimization structure to optimize the optimization margin directly online. To realize the computation, a Periodic Approximation technique is proposed, and an Efficiency-Oriented MPC Type I is constructed based on the Periodic Approximation. In order to alleviate the strict constraint of Efficiency-Oriented MPC Type I, the zone-control-based optimization concept is used to construct an Efficiency-Oriented MPC Type II. These two well-designed efficiency-oriented controllers were compared with other control strategies over a Continuous Stirred Tank Reactor (CSTR) application. The simulation results show that the proposed control strategy can generate superior closed-loop process performance, for example, and the Efficiency-Oriented MPC Type I can obtain 7.11% higher profits than those of other control strategies; the effectiveness of the efficiency-oriented MPC was, thereby, demonstrated. Full article

Embedded computers are ubiquitous in products across various industries, including the automotive and medical industries, and in consumer goods such as appliances and entertainment devices. These specialized computing systems utilize Systems on Chips (SoCs), devices that are made up of one or more main microprocessor cores. SoCs are augmented with sub-blocks that perform dedicated tasks to support the system. Sub-blocks contain custom logic or small-footprint microprocessors, depending upon their complexity, and perform support functions such as clock generation, device testing, phase-locked loop synchronization and peripheral management for interfaces such as a Universal Serial Bus (USB) or Serial Peripheral Interface (SPI). SoC designers have traditionally obtained sub-blocks from commercial vendors. While these sub-blocks have well-defined interfaces, their internal implementations are opaque. Without visibility of the specifics of the implementation, SoC designers are limited to the degree to which they can optimize these off-the-shelf sub-blocks. The result is that power and area constraints are dictated by the design of a third-party vendor. This work introduces a novel idea: using an open-source, small, multitasking, real-time operating system inside an SoC sub-block to manage multiple processes, thereby conserving code space. This OS is TurbOS, a new operating system whose primary goal is to provide the highest performance using the least amount of space. It is written in the assembly language of a new pipelined 16-bit microprocessor developed at the University of Florida, the Turbo9. TurbOS is derived from and incorporates the design benefits of an existing operating system called NitrOS-9, and reduces the code size from its progenitor by nearly 20%. Furthermore, it is over 80% smaller than the popular FreeRTOS operating system. TurbOS delivers a rich feature set for managing memory and process resources that are useful in SoC sub-block applications in an extremely small footprint of only 3 kilobytes. Full article

Innovations in electric vehicle technology have led to a need for maximum energy storage in the energy source to provide some extra kilometers. The size of electric vehicles limits the size of the batteries, thus limiting the amount of energy that can be stored. Range anxiety amongst the crowd prevents the entire population from shifting to a completely electric mode of transport. The extra energy harnessed from the kinetic energy produced due to braking during deceleration is sent back to the batteries to charge them, a process known as regenerative braking, providing a longer range to the vehicle. The work proposes efficient machine learning-based methods used to harness maximum braking energy from an electric vehicle to provide longer mileage. The methods are compared to the energy harnessed using fuzzy logic and artificial neural network techniques. These techniques take into consideration the state of charge (SOC) estimation of the battery, or the supercapacitor and the brake demand, to calculate the energy harnessed from the braking power. With the proposed machine learning techniques, there has been a 59% increase in energy extraction compared to fuzzy logic and artificial neural network methods used for regenerative energy extraction. Full article

Modifier Adaptation (MA) is a method of real-time optimization (RTO) which modifies a single model to match the first order properties of the plant. Known uncertainties in the parameters of this model are discarded in favor of real-time measurements, but they can be used to quantify the mismatch between the plant and model. Using multi-model methods increases the computation time, but can improve rate of convergence of the RTO scheme. This article proposes a framework, known as multiple solution modifier adaptation (MSMA), which produces several models which are all modified in the same way as standard MA, each producing a potential solution to be applied to the plant. From this framework, three recommended schemes are proposed on how to select the operating point to be applied to the plant: (1) Selecting the solution based off the modifiers; (2) Selecting the mean solution from convex models; (3) Selecting the closest solution to the current operating point. Each of these methods have different advantages, including limiting the increase in computational complexity and improving the model adequacy conditions of the scheme. These recommended schemes are shown on three different case studies of varying complexity with all three schemes showing improvements over standard MA. Full article

Optimal operation and control, which can result in the global optimal operation performance of industrial processes, has been a hot topic in recent control strategy designs. However, existing control strategies, such as real-time optimization (RTO), dynamic real-time optimization (DRTO), and economic model predictive control (EMPC), have their own limitations, and they can only generate sub-optimal operation performance. In order to further improve online global operation performance, a new kind of control strategy named efficiency-oriented model predictive control (EfiMPC) is proposed in this paper. The aim of the EfiMPC is discussed first, and then, the ideal EfiMPC strategy with a nested structure is proposed, where the inner layer is the offline construction of an efficiency-oriented terminal region, and the outer layer is the direct optimization of the transient operation performance. This efficiency-oriented terminal region can guarantee a dynamic operation performance in the closed-loop perspective, and a better global operation performance can thus be obtained. A practical EfiMPC strategy, which replaces the offline construction of the efficiency-oriented terminal region with the online optimization of the average dynamic operation performance in the inner layer, is also proposed, and the recursive feasibility as well as the closed-loop stability of practical EfiMPC are discussed. Finally, a CSTR application was used to test the superiority of the proposed EfiMPC strategy, and the simulation results show that EfiMPC can obtain the best global operation performance compared with the other three control strategies; thus, the effectiveness of EfiMPC is demonstrated. Full article

This article presents an energy-efficient method of controlling unmanned aircraft (fixed-wing UAVs), which consists of three groups of algorithms: aerial vehicle route planning, in-flight control, and algorithms to correct the preplanned flight trajectory. All algorithms shall take into account the existence of obstacles that the UAV must avoid and wind gusts in the UAV’s area of operation. Tests were carried out on the basis of the UAV mathematical model, stabilization and navigation algorithms, and Dryden turbulence model, considering the parameters of the UAV’s propulsion system. The work includes a detailed description of constructing a network of connection that is used to plan a UAV mission. It presents the algorithm for determining the actual distances between the different points in the field of action, which takes into account the existence of obstacles. The algorithm shall be based on methods for determining the flight trajectory on a hexagonal grid. It presents the developed proprietary UAV path planning algorithm based on a model from a group of algorithms of mixed integer linear problem (MILP) optimization. It presents the manner in which the pre-prepared flight path was used by UAV controllers that supervised the flight along the preset path. It details the architecture of contemporary unmanned aerial vehicles, which have embedded capability to realize autonomous missions, which require the integration of UAV systems into the route planning algorithms set out in the article. Particular attention has been paid to the planning and implementation methods of UAV missions under conditions where wind gusts are present, which support the determination of UAV flight routes to minimize the vehicle’s energy consumption. The models developed were tested within a computer architecture based on ARM processors using the hardware-in-the-loop (HIL) technique, which is commonly used to control unmanned vehicles. The presented solution makes use of two computers: FCC (flight control computer) based on a real-time operating system (RTOS) and MC (mission computer) based on Linux and integrated with the Robot Operating System (ROS). A new contribution of this work is the integration of planning and monitoring methods for the implementation of missions aimed at minimizing energy consumption of the vehicle, taking into account wind conditions. Full article

This paper is concerned with the real-time optimization (RTO) of chemical plants, i.e., the optimization of the steady-state operating points during operation, based on inaccurate models. Specifically, modifier adaptation is employed to cope with the plant-model mismatch, which corrects the plant model and the constraint functions by bias and gradient correction terms that are computed from measured variables at the steady-states of the plant. This implies that the sampling time of the iterative RTO scheme is lower-bounded by the time to reach a new steady-state after the previously computed inputs were applied. If analytical process measurements (PAT technology) are used to obtain the steady-state responses, time delays occur due to the measurement delay of the PAT device and due to the transportation delay if the samples are transported to the instrument via pipes. This situation is quite common because the PAT devices can often only be installed at a certain distance from the measurement location. The presence of these time delays slows down the iterative real-time optimization, as the time from the application of a new set of inputs to receiving the steady-state information increases further. In this paper, a proactive perturbation scheme is proposed to efficiently utilize the idle time by intelligently scheduling the process inputs taking into account the time delays to obtain the steady-state process measurements. The performance of the proposed proactive perturbation scheme is demonstrated for two examples, the Williams–Otto reactor benchmark and a lithiation process. The simulation results show that the proposed proactive perturbation scheme can speed up the convergence to the true plant optimum significantly. Full article

This work discusses what should be the desirable path and correct tools for the optimal re-design and operation of processes in the Industry 4.0 framework, as illustrated in a challenging case study corresponding to a complex network of evaporation plants in a viscose-fiber factory. The goal is to integrate optimal design, to improve the existing cooling systems, together with the optimal operation of the whole network, balancing the initial investment with the potentially achievable savings. A rigorous mathematical model for such optimization purpose has been built. The model explicitly considers different structural alternatives as a superstructure for the incorporation of new equipment into the network. The uncertainty associated to future operating conditions is also considered by using a two-stage stochastic formulation. Furthermore, the model is also the base from which a deterministic real-time optimization (RTO) builds upon to support the daily management of the future network operation. The RTO tool suggests the allocation of different products to evaporation plants, the distribution of the cooling water and the suitable number of heat pumps to switch on for optimal economic operation. Design and operation problems are formulated and solved via mixed-integer non-linear programming and the results have been tested with historical plant data. Full article

The rise of new digital technologies and their applications in several areas pushes the process industry to update its methodologies with more intensive use of mathematical models—commonly denoted as digital twins—and artificial intelligence (AI) approaches to continuously enhance operational efficiency. In this context, Real-time Optimization (RTO) is a strategy that is able to maximize an economic function while respecting the existing constraints, which enables keeping the operation at its optimum point even though the plant is subjected to nonlinear behavior and frequent disturbances. However, the investment related to the project of commercial RTOs may make its application infeasible for small-scale facilities. In this work, an in-house, small-scale RTO is presented and its successful application in a real industrial case—a Natural Gas Processing Unit—is shown. Besides that, a new method for enhancing the efficiency of using sequential-modular simulator inside an optimization framework and a new method to account for the economic return of optimization-based tools are proposed and described. The application of RTO in the industrial case showed an enhancement in the stability of the main variables and an increase in profit of 0.64% when compared to the operation of the regulatory control layer alone. Full article

In the context of real-time control systems, it has become possible to obtain temporal resolutions of microseconds due to the development of embedded systems and the Internet of Things (IoT), the optimization of the use of processor hardware, and the improvement of architectures and real-time operating systems (RTOSs). All of these factors, together with current technological developments, have led to efficient central processing unit (CPU) time usage, guaranteeing both the predictability of thread execution and the satisfaction of the timing constraints required by real-time systems (RTSs). This is mainly due to time sharing in embedded RTSs and the pseudo-parallel execution of tasks in single-processor and multi-processor systems. The non-deterministic behavior triggered by asynchronous external interrupts and events in general is due to the fact that, for most commercial RTOSs, the execution of the same instruction ends in a variable number of cycles, primarily due to hazards. The software implementation of RTOS-specific mechanisms may lead to significant delays that can affect deadline requirements for some RTSs. The main objective of this paper was the design and deployment of innovative solutions to improve the performance of RTOSs by implementing their functions in hardware. The obtained architectures are intended to provide feasible scheduling, even if the total CPU utilization is close to the maximum limit. The contributions made by the authors will be followed by the validation of a high-performing microarchitecture, which is expected to allow a thread context switching time and event response time of only one clock cycle each. The main purpose of the research presented in this paper is to improve these factors of RTSs, as well as the implementation of the hardware structure used for the static and dynamic scheduling of tasks, for RTOS mechanisms specific to resource sharing and intertask communication. Full article

In tropical countries, such as Thailand, the variation of tree moisture content can be significant based on seasonal variations in rainfall. Pulp mill operation optimization accounting for wood moisture variation was used to determine optimal operation conditions and minimize production cost. The optimization models were built using empirical modeling techniques with simulated data from the IDEAS software package. Three case studies were performed. First, a base case of nominal annual operation at a fixed production rate was used to calculate production cost that varies with wood moisture content. The second case is annual optimization where production was allowed to vary monthly over an annual cycle to minimize production cost. For the third case, real-time optimization (RTO) was used to determine optimal production rate with the wood moisture content varying every 3 days. The rolling horizon approach was used to schedule production to keep inventory levels within bounds and with a penalty applied to deviations from the annual expected values of inventory. The advantage of RTO in accounting for moisture content variation was confirmed by annual production costs results simulated for 20 years. These results statistically demonstrated that the overall cost was reduced compared to the second case of monthly production targets. Full article

To achieve the optimal operation of chemical processes in the presence of disturbances and uncertainty, a retrofit hierarchical architecture (HA) integrating real-time optimization (RTO) and control was proposed. The proposed architecture features two main components. The first is a fast extremum-seeking control (ESC) approach using transient measurements that is employed in the upper RTO layer. The fast ESC approach can effectively suppress the impact of plant-model mismatch and steady-state wait time. The second is a global self-optimizing control (SOC) scheme that is introduced to integrate the RTO and control layers. The proposed SOC scheme minimizes the global average loss based on the approximation of necessary conditions of optimality (NCO) over the entire operating region. A least-squares regression technique was adopted to select the controlled variables (CVs) as linear combinations of measurements. The proposed method does not require the second order derivative information, therefore, it is numerically more reliable and robust. An exothermic reaction process is presented to illustrate the effectiveness of the proposed method. Full article