@article{MRL_AFM_Low_cost_AFM,

title = {A modular low-cost atomic force microscope for precision mechatronics education},

author = {Fangzhou Xia and James Quigley and Xiaotong Zhang and Chen Yang and Yi Wang and Kamal Youcef-Toumi},

url = {https://www.sciencedirect.com/science/article/pii/S0957415821000441},

doi = {https://doi.org/10.1016/j.mechatronics.2021.102550},

issn = {0957-4158},

year  = {2021},

date = {2021-04-15},

journal = {Mechatronics},

volume = {76},

pages = {102550},

publisher = {ScienceDirect},

abstract = {Precision mechatronics and nanotechnology communities can both benefit from a course centered around an Atomic Force Microscope (AFM). Developing an AFM can provide precision mechatronics engineers with a valuable multidisciplinary hands-on training experience. In return, such expertise can be applied to the design and implementation of new precision instruments, which helps nanotechnology researchers make new scientific discoveries. However, existing AFMs are not suitable for mechatronics education due to their different original design intentions. Therefore, we address this challenge by developing an AFM intended for precision mechatronics education. This paper presents the design and implementation of an educational AFM and its corresponding precision mechatronics class. The modular educational AFM is low-cost (≤$4,000) and easy to operate. The cost reduction is enabled by new subsystem development of a buzzer-actuated scanner and demodulation electronics designed to interface with a myRIO data acquisition system. Moreover, the use of an active cantilever probe with piezoresistive sensing and thermomechanical actuation significantly reduced experiment setup overhead with improved operational safety. In the end, the developed AFM capabilities are demonstrated with imaging results. The paper also showcases the course design centered around selected subsystems. The new AFM design allows scientific-method-based learning, maximizes utilization of existing resources, and offers potential subsystem upgrades for high-end research applications. The presented instrument and course can help connect members of both the AFM and the mechatronics communities to further develop advanced techniques for new applications.},

keywords = {Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Charge_Controller_PBFODC,

title = {Modeling and Control of Piezoelectric Hysteresis: A Polynomial-Based Fractional Order Disturbance Compensation Approach},

author = {Chen Yang and Nicolas Verbeek and Fangzhou Xia and Yi Wang and Kamal Youcef-Toumi},

url = {https://ieeexplore.ieee.org/document/9027124},

doi = {10.1109/TIE.2020.2977567},

issn = {1557-9948},

year  = {2020},

date = {2020-03-06},

journal = {IEEE Transactions on Industrial Electronics},

publisher = {IEEE},

abstract = {Piezoelectric hysteresis is a critical issue that significantly degrades the motion accuracy of piezo-actuated nanopositioners. Such an issue is difficult to be precisely modeled and compensated for, primarily due to its asymmetric, rate and input amplitude dependent characteristics. This paper proposes a novel method to deal with this challenge. Specifically, a polynomial-based fractional order disturbance model is proposed to accommodate and characterize the complex hysteresis effect. In this model, the rate dependency is captured by a general method of implementing curve fitting in Bode magnitude plot. The inverse model for control purposes is immediately available from the original one. The proposed method does not require expensive computational resources. In fact, this paper shows that this controller can be easily implemented in an analog manner, which brings the advantages of high-bandwidth and low-cost. Extensive modeling and tracking experiments are carried out to demonstrate the effectiveness of the proposed method. It is shown that the piezoelectric hysteresis nonlinearity can be significantly suppressed over a wide bandwidth.},

keywords = {Control Theory, Experimentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Quadrature_Monte_Carlo,

title = {Why simple quadrature is just as good as Monte Carlo},

author = {Kevin Vanslette and Abdullatif Al Alsheikh and Kamal Youcef-Toumi},

url = {http://dx.doi.org/10.1515/mcma-2020-2055},

doi = {10.1515/mcma-2020-2055},

issn = {1569-3961},

year  = {2020},

date = {2020-03-01},

journal = {Monte Carlo Methods and Applications},

volume = {26},

number = {1},

pages = {1–16},

publisher = {Walter de Gruyter GmbH},

abstract = {We motive and calculate Newton–Cotes quadrature integration variance and compare it directly with Monte Carlo (MC) integration variance. We find an equivalence between deterministic quadrature sampling and random MC sampling by noting that MC random sampling is statistically indistinguishable from a method that uses deterministic sampling on a randomly shuffled (permuted) function. We use this statistical equivalence to regularize the form of permissible Bayesian quadrature integration priors such that they are guaranteed to be objectively comparable with MC. This leads to the proof that simple quadrature methods have expected variances that are less than or equal to their corresponding theoretical MC integration variances. Separately, using Bayesian probability theory, we find that the theoretical standard deviations of the unbiased errors of simple Newton–Cotes composite quadrature integrations improve over their worst case errors by an extra dimension independent factor ∝ N−1/2 This dimension independent factor is validated in our simulations.},

keywords = {Computational Intelligence, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Simulation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Confidence_Based_Hybrid_Tracking,

title = {Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation},

author = {L Yang and I Paranawithana and K Youcef-Toumi and U Tan},

doi = {10.1109/TASE.2019.2932724},

issn = {1558-3783},

year  = {2020},

date = {2020-01-01},

journal = {IEEE Transactions on Automation Science and Engineering},

volume = {17},

number = {1},

pages = {524-536},

publisher = {IEEE},

abstract = {This article proposes a confidence-based approach for combining two visual tracking techniques to minimize the influence of unforeseen visual tracking failures to achieve uninterrupted vision-based control. Despite research efforts in vision-guided micromanipulation, existing systems are not designed to overcome visual tracking failures, such as inconsistent illumination condition, regional occlusion, unknown structures, and nonhomogenous background scene. There remains a gap in expanding current procedures beyond the laboratory environment for practical deployment of vision-guided micromanipulation system. A hybrid tracking method, which combines motion-cue feature detection and score-based template matching, is incorporated in an uncalibrated vision-guided workflow capable of self-initializing and recovery during the micromanipulation. Weighted average, based on the respective confidence indices of the motion-cue feature localization and template-based trackers, is inferred from the statistical accuracy of feature locations and the similarity score-based template matches. Results suggest improvement of the tracking performance using hybrid tracking under the conditions. The mean errors of hybrid tracking are maintained at subpixel level under adverse experimental conditions while the original template matching approach has mean errors of 1.53, 1.73, and 2.08 pixels. The method is also demonstrated to be robust in the nonhomogeneous scene with an array of plant cells. By proposing a self-contained fusion method that overcomes unforeseen visual tracking failures using pure vision approach, we demonstrated the robustness in our developed low-cost micromanipulation platform.},

keywords = {Algorithms, Mechatronic Design, Nanotechnology, Physical System Modeling, Robotics & Automation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_Model_Validation_Testing,

title = {A general model validation and testing tool},

author = {Kevin Vanslette and Tony Tohme and Kamal Youcef-Toumi},

url = {https://www.sciencedirect.com/science/article/pii/S0951832019302571},

doi = {https://doi.org/10.1016/j.ress.2019.106684},

issn = {0951-8320},

year  = {2019},

date = {2019-10-28},

journal = {Reliability Engineering & System Safety},

volume = {195},

pages = {106684},

publisher = {Elsevier BV},

abstract = {We construct and propose the “Bayesian Validation Metric” (BVM) as a general model validation and testing tool. We find the BVM to be capable of representing all of the standard validation metrics (square error, reliability, probability of agreement, frequentist, area, probability density comparison, statistical hypothesis testing, and Bayesian model testing) as special cases and find that it can be used to improve, generalize, or further quantify their uncertainties. Thus, the BVM allows us to assess the similarities and differences between existing validation metrics in a new light. The BVM has the capacity to allow users to invent and select models according to novel validation requirements. We formulate and test a few novel compound validation metrics that improve upon other validation metrics in the literature. Further, we construct the BVM Ratio for the purpose of quantifying model selection under user defined definitions of agreement in the presence or absence of uncertainty. This construction generalizes the Bayesian model testing framework.},

keywords = {Algorithms, Computational Intelligence, Control Theory, Experimentation, intelligent systems, Probabilistic neural networks for robust machine learning, Simulation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_coated_probe,

title = {Lights Out! Nano-Scale Topography Imaging of Sample Surface in Opaque Liquid Environments with Coated Active Cantilever Probes},

author = {Fangzhou Xia and Chen Yang and Yi Wang and Kamal Youcef-Toumi and Christoph Reuter and Tzvetan Ivanov and Mathias Holz and Ivo W Rangelow},

url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6669515/},

doi = {10.3390/nano9071013},

year  = {2019},

date = {2019-07-09},

journal = {Nanomaterials},

volume = {9},

number = {7},

pages = {1013},

publisher = {Multidisciplinary Digital Publishing Institute},

abstract = {Atomic force microscopy is a powerful topography imaging method used widely in nanoscale metrology and manipulation. A conventional Atomic Force Microscope (AFM) utilizes an optical lever system typically composed of a laser source, lenses and a four quadrant photodetector to amplify and measure the deflection of the cantilever probe. This optical method for deflection sensing limits the capability of AFM to obtaining images in transparent environments only. In addition, tapping mode imaging in liquid environments with transparent sample chamber can be difficult for laser-probe alignment due to multiple different refraction indices of materials. Spurious structure resonance can be excited from piezo actuator excitation. Photothermal actuation resolves the resonance confusion but makes optical setup more complicated. In this paper, we present the design and fabrication method of coated active scanning probes with piezoresistive deflection sensing, thermomechanical actuation and thin photoresist polymer surface coating. The newly developed probes are capable of conducting topography imaging in opaque liquids without the need of an optical system. The selected coating can withstand harsh chemical environments with high acidity (e.g., 35% sulfuric acid). The probes are operated in various opaque liquid environments with a custom designed AFM system to demonstrate the imaging performance. The development of coated active probes opens up possibilities for observing samples in their native environments.},

keywords = {Experimentation, Fabrication, Full text available online, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Vectorized_Uncertainty_Input_Probability,

title = {Vectorized Uncertainty Propagation and Input Probability Sensitivity Analysis},

author = {Kevin Vanslette and Arwa Alanqari and Zeyad Al-awwad and Kamal Youcef-Toumi},

url = {https://arxiv.org/abs/1908.11246},

doi = {1908.11246v1},

year  = {2019},

date = {2019-06-04},

publisher = {King Abdulaziz City for Science and Technology},

abstract = {In this article we construct a theoretical and computational process for assessing Input Probability Sensitivity Analysis (IPSA) using a Graphics Processing Unit (GPU) enabled technique called Vectorized Uncertainty 

Propagation (VUP). VUP propagates probability distributions through 

a parametric computational model in a way that’s computational time 

complexity grows sublinearly in the number of distinct propagated input probability distributions. VUP can therefore be used to efficiently 

implement IPSA, which estimates a model’s probabilistic sensitivity to 

measurement and parametric uncertainty over each relevant measurement 

location. Theory and simulation illustrate the effectiveness of these methods.},

keywords = {Algorithms, Computational Intelligence, Experimentation, Uncertainty estimation and calibration for modeling},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Dual_Rotating_Retarder_Mueller,

title = {Unevenly spaced continuous measurement approach for dual rotating--retarder Mueller matrix ellipsometry},

author = {Kai Meng and Bo Jiang and Christos D Samolis and Mohamad Alrished and Kamal Youcef-Toumi},

url = {http://www.opticsexpress.org/abstract.cfm?URI=oe-27-10-14736},

doi = {10.1364/OE.27.014736},

issn = {1094-4087},

year  = {2019},

date = {2019-05-01},

journal = {Opt. Express},

volume = {27},

number = {10},

pages = {14736--14753},

publisher = {OSA},

abstract = {In order to efficiently extract the sample Mueller matrix by dual rotating–retarder ellipsometry, it is critical for the data reduction technique to achieve a minimal data processing burden while considering the ease of retarder control. In this paper, we propose an unevenly spaced sampling strategy to reach a globally optimal measurement matrix with minimum sampling points for continuous measurements. Taking into account the robustness to both systematic errors and detection noise, we develop multi-objective optimization models to identify the optimal unevenly spaced sampling points. A combined global search algorithm based on the multi-objective genetic algorithm is subsequently designed to solve our model. Finally, simulations and experiments are conducted to validate our approach as well as to provide near-optimal schemes for different design scenarios. The results demonstrate that significant improvement on error immunity performance can be achieved by applying an unevenly sampled measurement strategy compared to an evenly sampled one for our ellipsometer scenario.},

keywords = {Algorithms, Computational Intelligence, Intelligent optical characterization for nano-manufacturing, Nanotechnology, Physical System Modeling},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Charge_Controller_Self_Compensating,

title = {Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth},

author = {Chen Yang and Changle Li and Fangzhou Xia and Yanhe Zhu and Jie Zhao and Kamal Youcef-Toumi},

url = {https://ieeexplore.ieee.org/document/8466119},

doi = {10.1109/TIE.2018.2868321},

year  = {2018},

date = {2018-09-14},

journal = {IEEE Transactions on Industrial Electronics},

volume = {66},

number = {7},

pages = {5392--5402},

publisher = {IEEE},

abstract = {Charge control is a well-known sensorless approach to operate piezoelectric actuators, which has been proposed for more than 30 years. However, it is rarely used in industry because the implemented controllers suffer from the issues of limited low-frequency performance, long settling time, floating-load, and loss of stroke, etc. In this paper, a novel controller circuit dedicated to overcome these issues is presented. In the proposed scheme, a grounded-load charge controller with decoupled configuration is developed, which separates high-frequency and low-frequency paths, thus achieving arbitrarily low transition frequency without increasing the settling time. Based on this, a self-compensating configuration is further proposed and integrated into the controller circuit, which makes full use of controller output to improve its own control performance at low frequencies. Experimental results show that the presented charge controller can effectively reduce more than 88% of the hysteretic nonlinearity even when operating close to the transition frequency. To demonstrate its practical value, we then integrate it into a custom-designed high-speed atomic force microscope system. By comparing images obtained from using voltage drive and charge controller, it is clear that the piezoelectric hysteresis has been significantly reduced in a wide bandwidth.},

keywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Gossip_Protocal_Internet_App,

title = {Context-Aware Gossip-Based Protocol for Internet of Things Applications},

author = {Lina Altoaimy and Arwa Alromih and Shiroq Al-Megren and Ghada Al-Hudhud and Heba Kurdi and Kamal Youcef-Toumi},

url = {https://www.mdpi.com/1424-8220/18/7/2233},

doi = {10.3390/s18072233},

issn = {1424-8220},

year  = {2018},

date = {2018-07-11},

journal = {Sensors},

volume = {18},

number = {7},

publisher = {MDPI},

abstract = {This paper proposes a gossip-based protocol that utilises a multi-factor weighting function (MFWF) that takes several parameters into account: residual energy, Chebyshev distances to neighbouring nodes and the sink node, node density, and message priority. The effects of these parameters were examined to guide the customization of the weight function to effectively disseminate data to three types of IoT applications: critical, bandwidth-intensive, and energy-efficient applications. The performances of the three resulting MFWFs were assessed in comparison with the performances of the traditional gossiping protocol and the Fair Efficient Location-based Gossiping (FELGossiping) protocol in terms of end-to-end delay, network lifetime, rebroadcast nodes, and saved rebroadcasts. The experimental results demonstrated the proposed protocol’s ability to achieve a much shorter delay for critical IoT applications. For bandwidth-intensive IoT application, the proposed protocol was able to achieve a smaller percentage of rebroadcast nodes and an increased percentage of saved rebroadcasts, i.e., better bandwidth utilisation. The adapted MFWF for energy-efficient IoT application was able to improve the network lifetime compared to that of gossiping and FELGossiping. These results demonstrate the high level of flexibility of the proposed protocol with respect to network context and message priority.},

keywords = {Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_MultiCuckoo,

title = {MultiCuckoo: Multi-Cloud Service Composition Using a Cuckoo-Inspired Algorithm for the Internet of Things Applications},

author = {H Kurdi and F Ezzat and L Altoaimy and S H Ahmed and K Youcef-Toumi},

url = {https://ieeexplore.ieee.org/document/8476294?denied=},

doi = {10.1109/ACCESS.2018.2872744},

issn = {2169-3536},

year  = {2018},

date = {2018-01-01},

journal = {IEEE Access},

volume = {6},

pages = {56737-56749},

publisher = {IEEE},

abstract = {Internet of things (IoT) applications aim to provide access to widespread interconnected networks of smart devices, services, and information. This can be achieved by integrating IoT and cloud computing (CC). By using cloud computing service composition (SC), multiple services from various providers can be combined to meet users' requirements. However, SC is known for its complexity and is classified as an NP-hard problem; such problems are usually approached using heuristics, such as bioinspired algorithms. This paper aims at developing a bio-inspired algorithm that mimics the behavior of cuckoo birds (which examine the nests of other birds to find eggs similar to their own) to find a composite service that fulfills a user's request in a multi-cloud environment (MCE). Previous work on cuckoo-inspired algorithms has generally utilized metaheuristics, which try to fit a “good”solution to a general optimization problem. In contrast, we propose a problem-dependent heuristic that considers the SC problem and its particularities in MCE. The proposed algorithm, MultiCuckoo, was thoroughly evaluated based on a well-controlled experimental framework that benchmarks the performance of the new algorithm to other outstanding SC algorithms, including the all clouds combination algorithm, base cloud combination algorithm, and combinatorial optimization algorithm for multiple cloud service Composition. The results show that our algorithm is more efficient in terms of decreasing the number of examined services, the composed clouds, and the running time in comparison to the benchmark algorithms.},

keywords = {Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems, Mechatronic Design, Simulation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_active_probe_review,

title = {Review Article: Active scanning probes: A versatile toolkit for fast imaging and emerging nanofabrication},

author = {Ivo W Rangelow and Tzvetan Ivanov and Ahmad Ahmad and Marcus Kaestner and Claudia Lenk and Iman Soltani Bozchalooi and Fangzhou Xia and Kamal Youcef-Toumi and Mathias Holz and Alexander Reum},

url = {https://avs.scitation.org/doi/full/10.1116/1.4992073},

doi = {10.1116/1.4992073},

year  = {2017},

date = {2017-11-03},

journal = {Journal of Vacuum Science & Technology B, Nanotechnology and Microelectronics: Materials, Processing, Measurement, and Phenomena},

volume = {35},

number = {6},

pages = {06G101},

publisher = {American Vacuum Society},

abstract = {With the recent advances in the field of nanotechnology, measurement and manipulation requirements at the nanoscale have become more stringent than ever before. In atomic force microscopy, high-speed performance alone is not sufficient without considerations of other aspects of the measurement task, such as the feature aspect ratio, required range, or acceptable probe-sample interaction forces. In this paper, the authors discuss these requirements and the research directions that provide the highest potential in meeting them. The authors elaborate on the efforts toward the downsizing of self-sensed and self-actuated probes as well as on upscaling by active cantilever arrays. The authors present the fabrication process of active probes along with the tip customizations carriedout targeting specific application fields. As promising application in scope of nanofabrication, field emission scanning probe lithography is introduced. The authors further discuss their control and design approach. Here, microactuators, e.g., multilayer microcantilevers, and macroactuators, e.g., flexure scanners, are combined in order to simultaneously meet both the range and speed requirements of a new generation of scanning probe microscopes.},

keywords = {Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Automatic_Micromanipulation,

title = {Automatic Vision-Guided Micromanipulation for Versatile Deployment and Portable Setup},

author = {L Yang and I Paranawithana and K Youcef-Toumi and U Tan},

doi = {10.1109/TASE.2017.2754517},

issn = {1558-3783},

year  = {2017},

date = {2017-10-23},

journal = {IEEE Transactions on Automation Science and Engineering},

volume = {15},

number = {4},

pages = {1609-1620},

publisher = {IEEE},

abstract = {In this paper, an automatic vision-guided micromanipulation approach to facilitate versatile deployment and portable setup is proposed. This paper is motivated by the importance of micromanipulation and the limitations in existing automation technology in micromanipulation. Despite significant advancements in micromanipulation techniques, there remain bottlenecks in integrating and adopting automation for this application. An underlying reason for the gaps is the difficulty in deploying and setting up such systems. To address this, we identified two important design requirements, namely, portability and versatility of the micromanipulation platform. A self-contained vision-guided approach requiring no complicated preparation or setup is proposed. This is achieved through an uncalibrated self-initializing workflow algorithm also capable of assisted targeting. The feasibility of the solution is demonstrated on a low-cost portable microscope camera and compact actuated microstages. Results suggest subpixel accuracy in localizing the tool tip during initialization steps. The self-focus mechanism could recover intentional blurring of the tip by autonomously manipulating it 95.3% closer to the focal plane. The average error in visual servo is less than a pixel with our depth compensation mechanism showing better maintaining of similarity score in tracking. Cell detection rate in a 1637-frame video stream is 97.7% with subpixels localization uncertainty. Our work addresses the gaps in existing automation technology in the application of robotic vision-guided micromanipulation and potentially contributes to the way cell manipulation is performed.},

keywords = {Control Theory, Mechatronic Design, Physical System Modeling, Robot operated modular fixtures, Robotics & Automation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_MPPT_Controller_Ants,

title = {A new MPPT controller based on the Ant colony optimization algorithm for Photovoltaic systems under partial shading conditions},

author = {Sabrina Titri and Cherif Larbes and Kamal Youcef Toumi and Karima Benatchba},

url = {https://www.sciencedirect.com/science/article/pii/S1568494617302703},

doi = {https://doi.org/10.1016/j.asoc.2017.05.017},

issn = {1568-4946},

year  = {2017},

date = {2017-09-01},

journal = {Applied Soft Computing},

volume = {58},

pages = {465-479},

abstract = {The Maximum Power Point Tracking controller (MPPT) is a key element in Photovoltaic systems (PV). It is used to maintain the PV operating point at its maximum under different temperatures and sunlight irradiations. The goal of a MPPT controller is to satisfy the following performances criteria: accuracy, precision, speed, robustness and handling the partial shading problem when climatic changes variations occur. To achieve this goal, several techniques have been proposed ranging from conventional methods to artificial intelligence and bio-inspired methods. Each technique has its own advantage and disadvantage. In this context, we propose in this paper, a new Bio- inspired MPPT controller based on the Ant colony Optimization algorithm with a New Pheromone Updating strategy (ACO_NPU MPPT) that saves the computation time and performs an excellent tracking capability with high accuracy, zero oscillations and high robustness. First, the different steps of the design of the proposed ACO_NPU MPPT controller are developed. Then, several tests are performed under standard conditions for the selection of the appropriate ACO_NPU parameters (number of ants, coefficients of evaporation, archive size, etc.). To evaluate the performances of the obtained ACO_NPU MPPT, in terms of its tracking speed, accuracy, stability and robustness, tests are carried out under slow and rapid variations of weather conditions (Irradiance and Temperature) and under different partial shading patterns. Moreover, to demonstrate the superiority and robustness of the proposed ACO_NPU_MPPT controller, the obtained results are analyzed and compared with others obtained from the Conventional Methods (P&O_MPPT) and the Soft Computing Methods with Artificial intelligence (ANN_MPPT, FLC_MPPT, ANFIS_MPPT, FL_GA_MPPT) and with the Bio Inspired methods (PSO) and (ACO) from the literature. The obtained results show that the proposed ACO_NPU MPPT controller gives the best performances under variables atmospheric conditions. In addition, it can easily track the global maximum power point (GMPP) under partial shading conditions.},

keywords = {Algorithms, Computational Intelligence, intelligent systems, Mechatronic Design, Probabilistic neural networks for robust machine learning, Simulation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Channel_Modeling,

title = {Channel modeling and testing of wireless transmission for underground in-pipe leak and material loss detection},

author = {S Mekid and D Wu and R Hussain and K Youcef-Toumi},

url = {https://doi.org/10.1177/1550147717744715},

doi = {10.1177/1550147717744715},

issn = {1550147717744715},

year  = {2017},

date = {2017-01-01},

journal = {International Journal of Distributed Sensor Networks},

volume = {13},

number = {11},

pages = {1550147717744715},

publisher = {Sage},

abstract = {A systematic real-time methodology is adopted for leak detection in underground buried pipes. The wireless communication system is used to analyze the system performance based on the received power by monopole antenna deployed at the receiving side. Instrumentation designed for underground measurement and control such as leak and materials loss detection needs wireless communications to aboveground in both ways and in real-time mode. This constitutes one of the timely and challenging issues of battery-operated systems. The purpose of this work is to characterize the radio transmission between underground buried pipes and base station using multi-layer media including both theoretical and experimental approaches by utilizing various modulation schemes. The objective is to identify the range of operating communication frequencies having lower energy loss, lower resulting bit error rate, and the power needed to transfer packets designed to carry data through the media. This will support the on-device power management to secure large autonomy operations. Experimental tests have shown that the overall received energy was mixed with ambient energy if the latter is sent at the same frequency and that the optimum frequency range used to transmit energy was rather at low frequency range of 100–200 MHz.},

keywords = {Fabrication, Inspection, Inspection; repair and intelligence for water distribution pipes, Instrumentation, Mechatronic Design, Nanotechnology, Physical System Modeling},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Terminal_Trajectory_Tracking,

title = {Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles},

author = {Taha Elmokadem and Mohamed Zribi and Kamal Youcef-Toumi},

url = {https://www.sciencedirect.com/science/article/pii/S0029801816304759},

doi = {https://doi.org/10.1016/j.oceaneng.2016.10.032},

issn = {0029-8018},

year  = {2016},

date = {2016-11-06},

journal = {Ocean Engineering},

volume = {129},

pages = {613-625},

publisher = {elsevier},

abstract = {The aim of this paper is to develop robust control schemes for the lateral motion of underactuated autonomous underwater vehicles (AUVs). The AUV complex dynamics makes their control a challenging task. These challenges include the AUV nonlinear dynamics, unmodeled dynamics, system uncertainties and environmental disturbances. The objective of the proposed control schemes is to solve the trajectory tracking problem of AUVs. These controllers are designed using the concepts of terminal sliding mode control. The control performance of an example AUV (the REMUS AUV), using the proposed control schemes, is evaluated through computer simulations. The simulation results show that the proposed control schemes work well. Moreover, simulation studies are given to evaluate the performance of the proposed control schemes when bounded disturbances are acting on the vehicle. These studies indicate that the proposed control schemes are robust under bounded disturbances.},

keywords = {Computer vision for autonomous vehicle sensing, Instrumentation, Mechatronic Design, Physical System Modeling, Robotics & Automation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Comparison_Industrial_Social_Welfare,

title = {Demand side management in power grid enterprise control: A comparison of industrial & social welfare approaches},

author = {Bo Jiang and Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},

url = {https://www.sciencedirect.com/science/article/pii/S0306261916315410},

doi = {https://doi.org/10.1016/j.apenergy.2016.10.096},

issn = {0306-2619},

year  = {2016},

date = {2016-10-25},

journal = {Applied Energy},

volume = {187},

pages = {833-846},

publisher = {ScienceDirect},

abstract = {Despite the recognized importance of demand side management (DSM) for mitigating the impact of variable energy resources and reducing the system costs, the academic and industrial literature have taken divergent approaches to DSM implementation. The prequel to this paper has demonstrated that the netload baseline inflation – a feature particular to the industrial DSM unit commitment formulation – leads to higher and costlier day-ahead scheduling compared to the academic social welfare method. This paper now expands this analysis from a single optimization problem to the full power grid enterprise control with its multiple control layers at their associated time scales. These include unit commitment, economic dispatch and regulation services. It compares the two DSM formulations and quantifies the technical and economic impacts of industrial baseline errors in the day-ahead and real-time markets. The paper concludes that the presence of baseline errors – present only in the industrial model – leads to a cascade of additional system imbalances and costs as compared to the social welfare model. A baseline error introduced in the unit commitment problem will increase costs not just in the day-ahead market, but will also introduce a greater netload error residual in the real-time market causing additional cost and imbalances. These imbalances if left unmitigated degrade system reliability or otherwise require costly regulating reserves to achieve the same performance. An additional baseline error introduced in the economic dispatch further compounds this cascading effect with additional costs in the real-time market, amplified downstream imbalances, and further regulation capacity for its mitigation.},

keywords = {Algorithms, Control Theory, Experimentation, Robot operated modular fixtures, Robotics & Automation, Simulation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Environmental_Dust,

title = {Characterization of Environmental Dust in the Dammam Area and Mud After-Effects on Bisphenol-A Polycarbonate Sheets},

author = {Bekir Yilbas and Haider Ali and Naseer Al-Aqeeli and Mazen Khaled and Syed Said and Abu Dheir N and Necar Merah and Kamal Youcef-Toumi and Kripa Varanasi},

doi = {10.1038/srep24308},

issn = {24308},

year  = {2016},

date = {2016-04-16},

journal = {Scientific Reports},

volume = {6},

pages = {24308},

publisher = {Nature},

abstract = {Owing to recent climate changes, dust storms are increasingly common, particularly in the Middle East region. Dust accumulation and subsequent mud formation on solid surfaces in humid environments typically have adverse effects on surface properties such as optical transmittance, surface texture and microhardness. This is usually because the mud, which contains alkaline and ionic species, adheres strongly to the surface, often through chemical bonds and is therefore difficult to remove. In this study, environmental dust and the after-effects of mud formed on a polycarbonate sheet, which is commonly used as a protective glass in photovoltaic cells. Ionic compounds (OH−) are shown to significantly affect the optical, mechanical and textural characteristics of the polycarbonate surface and to increase the adhesion work required to remove the dry mud from the polycarbonate surface upon drying. Such ability to modify characteristics of the polycarbonate surface could address the dust/mud-related limitations of superhydrophobic surfaces.},

keywords = {Data-driven learning for intelligent machine maintenance, Mechatronic Design, Physical System Modeling, Robotics & Automation, Simulation, Visualization},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_LRHS_imaging,

title = {Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging},

author = {Iman Soltani Bozchalooi and Andrew Careaga Houck and Jwaher M. AlGhamdi and Kamal Youcef-Toumi},

url = {http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c},

doi = {https://doi.org/10.1016/j.ultramic.2015.10.016},

issn = {0304-3991},

year  = {2016},

date = {2016-01-01},

volume = {160},

pages = {213 - 224},

abstract = {This paper presents the design and control of a high-speed and large-range atomic force microscopy (AFM). A multi-actuation scheme is proposed where several nano-positioners cooperate to achieve the range and speed requirements. A simple data-based control design methodology is presented to effectively operate the AFM scanner components. The proposed controllers compensate for the coupled dynamics and divide the positioning responsibilities between the scanner components. As a result, the multi-actuated scanner behavior is equivalent to that of a single X–Y–Z positioner with large range and high speed. The scanner of the designed AFM is composed of five nano-positioners, features 6μm out-of-plane and 120μm lateral ranges and is capable of high-speed operation. The presented AFM has a modular design with laser spot size of 3.5μm suitable for small cantilever, an optical view of the sample and probe, a conveniently large waterproof sample stage and a 20MHz data throughput for high resolution image acquisition at high imaging speeds. This AFM is used to visualize etching of calcite in a solution of sulfuric acid. Layer-by-layer dissolution and pit formation along the crystalline lines in a low pH environment is observed in real time.},

keywords = {Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Simulation, Visualization},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_Market_Integration_Power_System,

title = {Relative merits of load following reserves & energy storage market integration towards power system imbalances},

author = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},

url = {https://www.sciencedirect.com/science/article/pii/S0142061515002999},

doi = {https://doi.org/10.1016/j.ijepes.2015.07.013},

issn = {0142-0615},

year  = {2016},

date = {2016-01-01},

journal = {International Journal of Electrical Power & Energy Systems},

volume = {74},

pages = {222-229},

publisher = {ScienceDirect},

abstract = {Traditionally, power system balancing operations consist of three consecutive control techniques, namely security-constrained unit commitment (SCUC), security-constrained economic dispatch (SCED), and automatic generation control (AGC). Each of these have their corresponding type of operating reserves. Similarly, energy storage resources (ESRs) may be integrated as energy, load following, or regulation resources. A review of the existing literature shows that most ESR integration studies are focused on a single control function. In contrast, recent work on renewable energy integration has employed the concept of enterprise control where the multiple layers of balancing operations have been integrated into a single model. This paper now uses such an enterprise control model to demonstrate the relative merits of load following reserves and energy storage integrated into the resource scheduling and balancing action layers. The results show that load following reserves and energy storage resources mitigate imbalances in fundamentally different ways. The latter becomes an increasingly effective balancing resource for high net-load variability and small day-ahead market time step.},

keywords = {Control Theory, intelligent systems, Modeling; sizing and control for smart grids, Visualization},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Holistic_Assessment_Electricity_Grid,

title = {The need for holistic enterprise control assessment methods for the future electricity grid},

author = {Amro M Farid and Bo Jiang and Aramazd Muzhikyan and Kamal Youcef-Toumi},

url = {https://www.sciencedirect.com/science/article/pii/S1364032115012599},

doi = {https://doi.org/10.1016/j.rser.2015.11.007},

issn = {1364-0321},

year  = {2015},

date = {2015-12-17},

journal = {Renewable and Sustainable Energy Reviews},

volume = {56},

pages = {669-685},

publisher = {elsevier},

abstract = {Recently, the academic and industrial literature has coalesced around an enhanced vision of the electric power grid that is responsive, dynamic, adaptive and flexible. As driven by decarbonization, reliability, transportation electrification, consumer participation and deregulation, this future grid will undergo technical, economic and regulatory changes to bring about the incorporation of renewable energy and incentivized demand side management and control. As a result, the power grid will experience fundamental changes in its physical system structure and behavior that will consequently require enhanced and integrated control, automation, and IT-driven management functions in what is called enterprise control. While these requirements will open a plethora of opportunities for new control technologies, many of these solutions are largely overlapping in function. Their overall contribution to holistic techno-economic control objectives and their underlying dynamic properties are less than clear. Piece-meal integration and a lack of coordinated assessment could bring about costly-overbuilt solutions or even worse unintended reliability consequences. This work, thus, reviews these existing trends in the power grid evolution. It then motivates the need for holistic methods of integrated assessment that manage the diversity of control solutions against their many competing objectives and contrasts these requirements to existing variable energy resource integration studies. The work concludes with a holistic framework for “enterprise control” assessment of the future power grid and suggests directions for future work.},

keywords = {Algorithms, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Surface_Wetting_Poly_Surfaces,

title = {Surface and wetting characteristics of textured bisphenol-A based polycarbonate surfaces: Acetone-induced crystallization texturing methods},

author = {Ahmed Owais and Mazen M Khaled and Bekir S Yilbas and Numan Abu-Dheir and Kripa K Varanasi and Kamal Y Toumi},

url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/app.43074},

doi = {https://doi.org/10.1002/app.43074},

issn = {43074},

year  = {2015},

date = {2015-11-12},

journal = {Journal of Applied Polymer Science},

volume = {133},

number = {14},

publisher = {Wiley},

abstract = {ABSTRACT Polycarbonate (PC) sheet is a promising material for facile patterning to induce hydrophobic self-cleaning and dust repelling properties for photovoltaic panels’ protection. An investigation to texture PC sheet surfaces to develop a self-cleaning structure using solvent induced-crystallization is carried out using acetone. Acetone is applied in both liquid and vapor states to generate a hierarchically structured surface that would improve its contacts angle and therefore improve hydrophobicity. The surface texture is investigated and characterized using atomic force microscopy, contact angle technique (Goniometer), optical microscopy, ultraviolet-visible spectroscopy (UV–vis) and Fourier transform infrared spectroscopy. The findings revealed that the liquid acetone-induced crystallization of PC surface leads to a hierarchal and hydrophobic surface with an average contact angle of 135° and average transmittance <2%. However, the acetone vapor induced-crystallization results in a slightly hydrophilic hierarchal textured surface with high transmittance; in which case, average contact angle of 89° and average transmittance of 69% are achieved. © 2015 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016, 133, 43074.},

keywords = {Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_Multi_Eigenmode,

title = {Multi-eigenmode control for high material contrast in bimodal and higher harmonic atomic force microscopy},

author = {Andreas Schuh and Iman Soltani Bozchalooi and Ivo W Rangelow and Kamal Youcef-Toumi},

url = {https://doi.org/10.1088/0957-4484/26/23/235706},

doi = {10.1088/0957-4484/26/23/235706},

year  = {2015},

date = {2015-05-01},

journal = {Nanotechnology},

volume = {26},

number = {23},

pages = {235706},

publisher = {IOP Publishing},

abstract = {High speed imaging and mapping of nanomechanical properties in atomic force microscopy (AFM) allows the observation and characterization of dynamic sample processes. Recent developments involve several cantilever frequencies in a multifrequency approach. One method actuates the first eigenmode for topography imaging and records the excited higher harmonics to map nanomechanical properties of the sample. To enhance the higher frequencies’ response two or more eigenmodes are actuated simultaneously, where the higher eigenmode(s) are used to quantify the nanomechanics. In this paper, we combine each imaging methodology with a novel control approach. It modifies the Q factor and resonance frequency of each eigenmode independently to enhance the force sensitivity and imaging bandwidth. It allows us to satisfy the different requirements for the first and higher eigenmode. The presented compensator is compatible with existing AFMs and can be simply attached with minimal modifications. Different samples are used to demonstrate the improvement in nanomechanical contrast mapping and imaging speed of tapping mode AFM in air. The experiments indicate most enhanced nanomechanical contrast with low Q factors of the first and high Q factors of the higher eigenmode. In this scenario, the cantilever topography imaging rate can also be easily improved by a factor of 10.},

keywords = {Algorithms, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Agreecan_Nanoscale_Solid,

title = {Aggrecan Nanoscale Solid–Fluid Interactions Are a Primary Determinant of Cartilage Dynamic Mechanical Properties},

author = {Hadi Nia and Lin Han and Iman Soltani and Peter Roughley and Kamal Youcef-Toumi and Alan Grodzinsky and Christine Ortiz},

doi = {10.1021/nn5062707},

issn = {2614-2625},

year  = {2015},

date = {2015-03-10},

journal = {ACS nano},

volume = {9},

publisher = {ACS},

abstract = {Poroelastic interactions between interstitial fluid and the extracellular 

matrix of connective tissues are critical to biological and pathophysiological functions 

involving solute transport, energy dissipation, self-stiffening and lubrication. However, 

the molecular origins of poroelasticity at the nanoscale are largely unknown. Here, the 

broad-spectrum dynamic nanomechanical behavior of cartilage aggrecan monolayer is 

revealed for the first time, including the equilibrium and instantaneous moduli and the 

peak in the phase angle of the complex modulus. By performing a length scale study 

and comparing the experimental results to theoretical predictions, we confirm that the 

mechanism underlying the observed dynamic nanomechanics is due to solid
fluid 

interactions (poroelasticity) at the molecular scale. Utilizing finite element modeling, the molecular-scale hydraulic permeability of the aggrecan assembly was quantified (kaggrecan = (4.8 ( 2.8) 10
15 m4 

/N 3 s) and found to be similar to the nanoscale hydraulic permeability of intact normal cartilage tissue 

but much lower than that of early diseased tissue. The mechanisms underlying aggrecan poroelasticity were further investigated by altering electrostatic 

interactions between the molecule's constituent glycosaminoglycan chains: electrostatic interactions dominated steric interactions in governing molecular 

behavior. While the hydraulic permeability of aggrecan layers does not change across species and age, aggrecan from adult human cartilage is stiffer than 

the aggrecan from newborn human tissue.},

keywords = {Experimentation, Fabrication, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Enterprise_Control_Assessment,

title = {An Enterprise Control Assessment Method for Variable Energy Resource-Induced Power System Imbalances—Part II: Parametric Sensitivity Analysis},

author = {A Muzhikyan and A M Farid and K Youcef-Toumi},

url = {https://ieeexplore.ieee.org/document/7018074?denied=},

doi = {10.1109/TIE.2015.2395380},

issn = {1557-9948},

year  = {2015},

date = {2015-01-22},

journal = {IEEE Transactions on Industrial Electronics},

volume = {62},

number = {4},

pages = {2459-2467},

publisher = {IEEE},

abstract = {In recent years, renewable energy has developed to address energy security and climate change drivers. However, as energy resources, they possess a variable and uncertain nature that significantly complicates grid balancing operations. As a result, an extensive academic and industrial literature has developed to determine how much such variable energy resources (VERs) may be integrated and how to best mitigate their impacts. While certainly insightful with the context of their application, many integration studies have methodological limitations because they are case specific, address a single control function of the power grid balancing operations, and are often not validated by simulation. The prequel to this paper presented a holistic method for the assessment of power grid imbalances induced by VERs based upon the concept of enterprise control. This paper now systematically studies these power grid imbalances in terms of five independent variables: 1) day-ahead market time step; 2) real-time market time step; 3) VER normalized variability; 4) normalized day-ahead VER forecast error; and 5) normalized short-term VER forecast error. The systematic study elucidates the impacts of these variables and provides significant insights as to how planners should address these independent variables in the future.},

keywords = {Algorithms, Control Theory, intelligent systems, Modeling, Simulation, sizing and control of smart grids},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_Noise_Control_Decoupling,

title = {Noise and control decoupling of Advanced LIGO suspensions},

author = {B N Shapiro and R Adhikari and J Driggers and J Kissel and B Lantz and J Rollins and K Youcef-Toumi},

url = {https://doi.org/10.1088/0264-9381/32/1/015004},

doi = {10.1088/0264-9381/32/1/015004},

year  = {2014},

date = {2014-12-10},

journal = {Classical and Quantum Gravity},

volume = {32},

number = {1},

pages = {015004},

publisher = {IOP Publishing},

abstract = {Ground-based interferometric gravitational wave observatories such as Advanced LIGO must isolate their optics from ground vibrations with suspension systems to meet their stringent noise requirements. These suspensions typically have very high quality-factor resonances that require active damping. The sensor noise associated with this damping is a potential significant contributor to the sensitivity of these interferometers. This paper introduces a novel scheme for suspension damping that isolates much of this noise and permits greater amounts of damping. It also decouples the damping feedback design from the interferometer control. The scheme works by invoking a change from a local coordinate frame associated with each suspension, to a coordinate frame aligned with the interferometric readout. In this way, degrees of freedom invisible to the readout can employ effective, but noisy damping. The degree of freedom measured by the readout is then damped using low noise interferometer signals, eliminating the need to use the usual noisy sensors. Simulated and experimental results validate the concepts presented in this paper.},

keywords = {Control Theory, Experimentation, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling, Visualization},

pubstate = {published},

tppubtype = {article}

}

@article{MRL_AFM_State_Estimation_Power,

title = {Event triggered state estimation techniques for power systems with integrated variable energy resources},

author = {Reshma C Francy and Amro M Farid and Kamal Youcef-Toumi},

url = {https://doi.org/10.1016/j.isatra.2014.11.001},

doi = {10.1016/j.isatra.2014.11.001},

issn = {0019-0578},

year  = {2014},

date = {2014-11-24},

journal = {ISA transactions},

volume = {56},

pages = {165—172},

abstract = {For many decades, state estimation (SE) has been a critical technology for energy management systems utilized by power system operators. Over time, it has become a mature technology that provides an accurate representation of system state under fairly stable and well understood system operation. The integration of variable energy resources (VERs) such as wind and solar generation, however, introduces new fast frequency dynamics and uncertainties into the system. Furthermore, such renewable energy is often integrated into the distribution system thus requiring real-time monitoring all the way to the periphery of the power grid topology and not just the (central) transmission system. The conventional solution is two fold: solve the SE problem (1) at a faster rate in accordance with the newly added VER dynamics and (2) for the entire power grid topology including the transmission and distribution systems. Such an approach results in exponentially growing problem sets which need to be solver at faster rates. This work seeks to address these two simultaneous requirements and builds upon two recent SE methods which incorporate event-triggering such that the state estimator is only called in the case of considerable novelty in the evolution of the system state. The first method incorporates only event-triggering while the second adds the concept of tracking. Both SE methods are demonstrated on the standard IEEE 14-bus system and the results are observed for a specific bus for two difference scenarios: (1) a spike in the wind power injection and (2) ramp events with higher variability. Relative to traditional state estimation, the numerical case studies showed that the proposed methods can result in computational time reductions of 90. These results were supported by a theoretical discussion of the computational complexity of three SE techniques. The work concludes that the proposed SE techniques demonstrate practical improvements to the computational complexity of classical state estimation. In such a way, state estimation can continue to support the necessary control actions to mitigate the imbalances resulting from the uncertainties in renewables.},

keywords = {Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},

pubstate = {published},

tppubtype = {article}

}