A33649 Any calculator Page 1 of 8 TURN OVER Calculators may be used in this examination but must not be used to store text. Calculators with the ability to store text should have their memories deleted prior to the start of the examination. Special Requirements: None School of Engineering Department of Electronic, Electrical, and Systems Engineering Level M 04 30055 LM Sensing and Control for Autonomous Systems Summer Examinations 2019 Time Allowed: 3 hours Answer FOUR questions The allocation of marks within each question is stated in the right-hand margin. Any calculator A33649 Page 2 of 8 TURN OVER ANSWER FOUR QUESTIONS 1. You have been asked to design a sensor system to monitor (and ultimately control) the operation of a sliding door such as the ones on the entrance to the Gisbert Kapp building. (a) (i) What is the primary physical characteristic that you would measure? What else could you measure in order to infer something about the performance of the door? [2] (ii) List three options for the physical approach to be taken for the measurement of the primary physical characteristic. For each approach, explain how the sensor could be used for the measurement. Finally, state and explain which approach you would select for your design. [4] (b) The door has a flexible seal which can compress by up to 10 mm as the door reaches its closed position. Stating your assumptions (e.g. about the range and rate of movement of the door); explain what rate you would want to obtain information at in order to ensure that the door could be controlled to stop safely; and thus what sampling rate you would need to use in your measurement system. [4] (c) Your boss decides that all of the doors should be connected to a single control point at the reception desk and that only the sensors and actuators should be located at the doors. The furthest door is approximately 20 m from the reception desk. (i) Do you agree with your boss that this is a good solution? Briefly explain the reasoning for your answer. What alternative solution could you suggest? [2] (ii) Regardless of your opinion, your boss decides to use their architecture. You ask your sensor supplier for a suitable sensor and they provide you with three options: one with a 0-5 V output, one with a 4-20 mA output, and one with an SPI output. Explain the differences between the sensors you have been offered, and which you would select and why. [4] (d) Provide two options for the type of actuator / mechanism to be used to operate the door. Consider the benefits and disadvantages of each, and ultimately make a recommendation for which system you would install. [4] Any calculator A33649 Page 3 of 8 TURN OVER 2. For the system () = 0.1−1+0.3−2 1+1.5−1+0.9−2+0.2−3 () (a) Write down the PIP non-minimal state vector, x(k) [4] (b) Write down the state-space equations and the four matrices (f,g,d,h) [6] (c) Give the “default” weights for the Q and R parameters in the optimal design [4] (d) (i) If k = [ -10 -5 -1 -0.3 -5 ]; write down the Filters F, G and ki [3] (ii) Draw the block diagram for the PIP controller including the three filters [3] Any calculator A33649 Page 4 of 8 TURN OVER 3. This question relates to control systems and to your understanding of control structures and modelling for control. Figure 1: Generic Feedback Control Diagram (a) Assuming a car cruise-control system, reproduce the diagram above showing the location of the car model, G(s) and the PI controller K(s). On the diagram, clearly label the command signal, vin(s), the error E(s), the control force, F(s) and the velocity of the vehicle, v(s). [6] (b) (i) Name and summarise the two approaches to modelling of dynamic systems discussed in the control part of the module. [6] (ii) Do you believe it is possible to combine the two approaches? If so, suggest a circumstance when it may be useful to do this. [4] (iii) Describe how you might go about judging whether a model is “correct”? {Hint: you may want to think about the purpose of the model}. [4] Any calculator A33649 Page 5 of 8 TURN OVER 4. A new robotic van loading system is being developed. An algorithm that picks the correct items to load into the van is required. The algorithm must maximise the value of the items placed in the van while not exceeding the maximum load of the van. The maximum load of the van is 1,500 kg. The following items can be picked to be loaded into the van: Table 1 Item Weight Value Washing Machine 100 kg £300 American Fridge Freezer 100 kg £600 Safe 200 kg £600 Piano 400 kg £3,000 Aga Stove 1,200 kg £1,200 (a) Use a Brute Force algorithm to solve the problem. Explain how the algorithm works, and fully calculate a solution showing all steps taken by the algorithm. [4] (b) Design a Genetic Algorithm to solve the problem. Explain how the algorithm works, explain your design choices and fully calculate two generations of the algorithm showing all steps taken. Assume each generation has 8 chromosomes. [7] (c) Use Dynamic Programming to solve the problem. Explain how the algorithm works, fully calculate the graphical representation of the algorithm and hence show how the solution to this problem is found. [5] (d) What are the benefits and disbenefits of the three algorithms you have developed? State what kinds of problem are best suited for each algorithm type. [2] (e) Explain the potential problems with automating processes previously undertaken by humans. [2] Any calculator A33649 Page 6 of 8 TURN OVER 5. (a) (i) Briefly explain the principle and advantages of Simulated Annealing algorithms. [4] (ii) Write down the pseudocode of a Simulated Annealing algorithm. [4] (b) (i) Draw the three typical Fuzzy Controller diagrams: Direct Fuzzy Controller, Fuzzy Pre-compensated Controller, and Fuzzy PID Controller. [6] (ii) Draw a typical fuzzy control system diagram including the elements of a fuzzy controller. Briefly explain the elements found in fuzzy controllers. Describe the generic Fuzzy Controller design process. [6] Any calculator A33649 Page 7 of 8 END OF PAPER 6. Damage to any aspect of an airport runway has significant potential consequences for the safe operation of aircraft. It is therefore necessary to perform regular inspections of a runway. At present, these inspections are carried out manually. The inspections are undertaken first thing in the morning, last thing at night, and every two hours throughout the day. Inspections must be undertaken with minimal disruption to aircraft services. The inspection process consists of a team of observers driving through the runway recording a series of observations. The maximum permitted speed for the inspection vehicle is 45 km/h. The inspection must confirm that the runway:  Is clear of foreign objects or debris  Has markings and signs in good condition and visible  Has lighting that is working and undamaged  Has an undamaged surface  Is clear of oil and fuel spills  Has a particular level of surface friction along its centreline You work for a company that has been contracted to develop an autonomous inspection vehicle for airport runways. As the senior design engineer assigned to the project, it is your job to undertake the initial design work required to get the project concept approved before additional engineers are brought in to expand on the aspects of your design. Provide an initial design for the autonomous runway inspection vehicle. Your design should consider:  The operating regime (regularity of inspection, coverage per inspection, operating speed, etc.)  The drive system for the vehicle  The positioning and situational awareness (environment and safety sensing) systems for the vehicle  The control strategy / system for the vehicle  The sensing systems required to undertake the inspections described above (physical parameters to be measured, resolution, sample rate, required processing)  If / how the system would be “operated”  How the design could be modularised in order to distribute tasks to your colleagues [20] Any calculator A33649 LM Sensing and Control for Autonomous Systems Page 8 of 8 Important Reminders  Coats/outwear should be placed in the designated area.  Unauthorised materials (e.g. notes or Tippex) must be placed in the designated area.  Check that you do not have any unauthorised materials with you (e.g. in your pockets, pencil case).  Mobile phones and smart watches must be switched off and placed in the designated area or under your desk. They must not be left on your person or in your pockets.  You are not permitted to use a mobile phone as a clock. If you have difficulty seeing a clock, please alert an Invigilator.  You are not permitted to have writing on your hand, arm or other body part.  Check that you do not have writing on your hand, arm or other body part if you do, you must inform an Invigilator immediately  Alert an Invigilator immediately if you find any unauthorised item upon you during the examination. Any students found with non-permitted items upon their person during the examination, or who fail to comply with Examination rules may be subject to Student Conduct procedures. Do not complete the attendance slip, fill in the front of the answer book or turn over the question paper until you are told to do so









































































































































































































































































































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