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Mechatronics Research Lab Publications
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2021
58.
Fangzhou Xia; James Quigley; Xiaotong Zhang; Chen Yang; Yi Wang; Kamal Youcef-Toumi
A modular low-cost atomic force microscope for precision mechatronics education Journal Article
In: Mechatronics, vol. 76, pp. 102550, 2021, ISSN: 0957-4158.
Abstract | Links | BibTeX | Tags: Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling
@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}
}
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.
2020
57.
Fangzhou Xia; Chen Yang; Yi Wang; Kamal Youcef-Toumi
Model and Controller Design for High-speed Atomic Force Microscope Imaging and Autotuning Proceedings Article
In: 2020 ASPE Spring Topical Meeting on Design and Control of Precision Mechatronic Systems, pp. 99–104, ASPE ASPE, 2020.
Abstract | Links | BibTeX | Tags: Control Theory, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation
@inproceedings{MRL_AFM_Imaging_Autotuning,
title = {Model and Controller Design for High-speed Atomic Force Microscope Imaging and Autotuning},
author = {Fangzhou Xia and Chen Yang and Yi Wang and Kamal Youcef-Toumi},
url = {https://www.dropbox.com/s/vekbaco9oq3kkuu/2020%20Spring%20Topical%20Design%20and%20Controls%20Proceedings%20revised%20DT.pdf?dl=0},
year = {2020},
date = {2020-05-08},
booktitle = {2020 ASPE Spring Topical Meeting on Design and Control of Precision Mechatronic Systems},
pages = {99--104},
publisher = {ASPE},
organization = {ASPE},
abstract = {Atomic Force Microscope (AFM) is a powerful nano-scale surface measurement instrument. However, significant operator experience is needed for successful imaging. Parameters of the PID controller for probe deflection or oscillation regulation are tuned by the operator based on visual inspection of the trace and retrace tracking performance. With the development of high-speed AFM and for the purpose of operation overhead reduction, automated parameter tuning of the controller is needed. In this work, we propose a unified framework with various control and image generation improvement methods for contact mode AFM, starting first with an automated PID controller tuning and scan speed adjustment method. Second, we discuss three methods to improve imaging performance including location-based sampling, line-based feedforward and error-corrected image generation. Third, in cases where topography variation and material properties are non-uniform across the sample surface, a single neuron PID is designed for model-free adaptive tracking. With a lumped parameter AFM model created in Matlab Simulink, the proposed algorithms are evaluated in simulation to demonstrate their effectiveness. The methods are summarized into a unified framework where methods can be automatically selected after initialization to improve AFM imaging performance.},
keywords = {Control Theory, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Atomic Force Microscope (AFM) is a powerful nano-scale surface measurement instrument. However, significant operator experience is needed for successful imaging. Parameters of the PID controller for probe deflection or oscillation regulation are tuned by the operator based on visual inspection of the trace and retrace tracking performance. With the development of high-speed AFM and for the purpose of operation overhead reduction, automated parameter tuning of the controller is needed. In this work, we propose a unified framework with various control and image generation improvement methods for contact mode AFM, starting first with an automated PID controller tuning and scan speed adjustment method. Second, we discuss three methods to improve imaging performance including location-based sampling, line-based feedforward and error-corrected image generation. Third, in cases where topography variation and material properties are non-uniform across the sample surface, a single neuron PID is designed for model-free adaptive tracking. With a lumped parameter AFM model created in Matlab Simulink, the proposed algorithms are evaluated in simulation to demonstrate their effectiveness. The methods are summarized into a unified framework where methods can be automatically selected after initialization to improve AFM imaging performance.
56.
Chen Yang; Nicolas Verbeek; Fangzhou Xia; Yi Wang; Kamal Youcef-Toumi
Modeling and Control of Piezoelectric Hysteresis: A Polynomial-Based Fractional Order Disturbance Compensation Approach Journal Article
In: IEEE Transactions on Industrial Electronics, 2020, ISSN: 1557-9948.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation
@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}
}
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.
55.
L Yang; I Paranawithana; K Youcef-Toumi; U Tan
Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation Journal Article
In: IEEE Transactions on Automation Science and Engineering, vol. 17, no. 1, pp. 524-536, 2020, ISSN: 1558-3783.
Abstract | Links | BibTeX | Tags: Algorithms, Mechatronic Design, Nanotechnology, Physical System Modeling, Robotics & Automation
@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}
}
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.
2019
54.
Fangzhou Xia; Chen Yang; Yi Wang; Kamal Youcef-Toumi
Bandwidth Based Repetitive Controller Design for a Modular Multi-actuated AFM Scanner Proceedings Article
In: 2019 American Control Conference (ACC), pp. 3776–3781, IEEE IEEE, 2019.
Abstract | Links | BibTeX | Tags: Control Theory, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation
@inproceedings{MRL_AFM_Bandwidth_Based_Repetitive_Control,
title = {Bandwidth Based Repetitive Controller Design for a Modular Multi-actuated AFM Scanner},
author = {Fangzhou Xia and Chen Yang and Yi Wang and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/8814642},
doi = {10.23919/ACC.2019.8814642},
year = {2019},
date = {2019-08-29},
booktitle = {2019 American Control Conference (ACC)},
pages = {3776--3781},
publisher = {IEEE},
organization = {IEEE},
abstract = {High-Speed Atomic Force Micrscopy (HSAFM) enables visualization of dynamic processes and helps with understanding of fundamental behaviors at the nano-scale. Ideally, the HSAFM video frames should have high fidelity, high resolution, and a wide scanning range. Unfortunately, it is very difficult for scanners to simultaneously achieve high scanning bandwidth and large range. Since the first bending mode of large piezos is a major limiting factor, we propose an alternative design by stacking multiple short range piezo actuators. This approach allows significant increase of scanner bandwidth (over 20 kHz) while maintaining large travel range (over 20 μm). The modular design also facilitates the easy adjustment of scanner travel range. In this paper, we first discuss the design and assembly of this scanner. We then present the modeling and control of this multi-actuated scanner. A comparative study is then given on the performance of different controllers. These include a PID controller, a LQR based controller and a bandwidth based repetitive controller. The proposed algorithm provides significant improvement in tracking performance when utilized with the scanner using optimized input trajectories.},
keywords = {Control Theory, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
High-Speed Atomic Force Micrscopy (HSAFM) enables visualization of dynamic processes and helps with understanding of fundamental behaviors at the nano-scale. Ideally, the HSAFM video frames should have high fidelity, high resolution, and a wide scanning range. Unfortunately, it is very difficult for scanners to simultaneously achieve high scanning bandwidth and large range. Since the first bending mode of large piezos is a major limiting factor, we propose an alternative design by stacking multiple short range piezo actuators. This approach allows significant increase of scanner bandwidth (over 20 kHz) while maintaining large travel range (over 20 μm). The modular design also facilitates the easy adjustment of scanner travel range. In this paper, we first discuss the design and assembly of this scanner. We then present the modeling and control of this multi-actuated scanner. A comparative study is then given on the performance of different controllers. These include a PID controller, a LQR based controller and a bandwidth based repetitive controller. The proposed algorithm provides significant improvement in tracking performance when utilized with the scanner using optimized input trajectories.
53.
You Wu; Elizabeth Mittmann; Crystal Winston; Kamal Youcef-Toumi
A Practical Minimalism Approach to In-pipe Robot Localization Proceedings Article
In: 2019 American Control Conference (ACC), pp. 3180-3187, IEEE IEEE, 2019, ISBN: 978-1-5386-7926-5.
Abstract | Links | BibTeX | Tags: Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Pipe_Robot_Localization,
title = {A Practical Minimalism Approach to In-pipe Robot Localization},
author = {You Wu and Elizabeth Mittmann and Crystal Winston and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/8814648},
doi = {10.23919/ACC.2019.8814648},
isbn = {978-1-5386-7926-5},
year = {2019},
date = {2019-08-19},
booktitle = {2019 American Control Conference (ACC)},
pages = {3180-3187},
publisher = {IEEE},
organization = {IEEE},
abstract = {Water pipe leakage is a common and significant problem around the world. In recent years, an increasing amount of effort has been put into developing effective leak detection solutions for water pipes. Among them, the pressure gradient based method developed at the Massachusetts Institute of Technology excels for its sensitivity in low pressure, small diameter pipes. It can also work in both plastic and metallic pipes. However, in order for leaks detected to be fixed, one must also know the locations of the leaks. In addition, sensing the robot's location via GPS or remote sensors requires greater power and relies on certain ground properties. Thus this paper sets out to localize the robot using only the on board sensors which are an IMU, gyro, and the leak sensors. Through pipe joint measurement and the extended Kalman filter simulations show the tracking error is about 0.5% of the total distance of the robotic inspection. With a minimal number of additional leak sensors added, a complementary method was developed to function in more heavily tuberculated pipes.},
keywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
Water pipe leakage is a common and significant problem around the world. In recent years, an increasing amount of effort has been put into developing effective leak detection solutions for water pipes. Among them, the pressure gradient based method developed at the Massachusetts Institute of Technology excels for its sensitivity in low pressure, small diameter pipes. It can also work in both plastic and metallic pipes. However, in order for leaks detected to be fixed, one must also know the locations of the leaks. In addition, sensing the robot's location via GPS or remote sensors requires greater power and relies on certain ground properties. Thus this paper sets out to localize the robot using only the on board sensors which are an IMU, gyro, and the leak sensors. Through pipe joint measurement and the extended Kalman filter simulations show the tracking error is about 0.5% of the total distance of the robotic inspection. With a minimal number of additional leak sensors added, a complementary method was developed to function in more heavily tuberculated pipes.
52.
Erik Gest; Mikio Furokawa; Takayuki Hirano; Kamal Youcef-Toumi
Design of Versatile and Low-Cost Shaft Sensor for Health Monitoring Proceedings Article
In: pp. 1926-1932, IEEE IEEE, 2019, ISBN: 978-1-5386-6027-0.
Abstract | Links | BibTeX | Tags: Control Theory, Data-driven learning for intelligent machine maintenance, Experimentation, Fabrication, Instrumentation, intelligent systems, Physical System Modeling, Simulation
@inproceedings{MRL_AFM_Shaft_Sensor_Health_Monitoring,
title = {Design of Versatile and Low-Cost Shaft Sensor for Health Monitoring},
author = {Erik Gest and Mikio Furokawa and Takayuki Hirano and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/8794408},
doi = {10.1109/ICRA.2019.8794408},
isbn = {978-1-5386-6027-0},
year = {2019},
date = {2019-08-12},
pages = {1926-1932},
publisher = {IEEE},
organization = {IEEE},
abstract = {Virtually every mechanized form of transportation, power generation system, industrial equipment, and robotic system has rotating shafts. As the shaft is often the main means of mechanical power transmission, measuring the torque, speed, vibration, and bending of the shaft can be used in many cases to access device performance and health and to implement controls. This paper proposes a shaft sensor that measures all of these phenomena with reasonable accuracy while having a low cost and simple installation process. This sensor transfers strain from the shaft and amplifies it to increase sensitivity. Furthermore, this sensor requires no components to be in the stationary reference frame, allowing the entire device to rotate with the shaft. A prototype is presented. Experimental results illustrate the effectiveness of the proposed system.},
keywords = {Control Theory, Data-driven learning for intelligent machine maintenance, Experimentation, Fabrication, Instrumentation, intelligent systems, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Virtually every mechanized form of transportation, power generation system, industrial equipment, and robotic system has rotating shafts. As the shaft is often the main means of mechanical power transmission, measuring the torque, speed, vibration, and bending of the shaft can be used in many cases to access device performance and health and to implement controls. This paper proposes a shaft sensor that measures all of these phenomena with reasonable accuracy while having a low cost and simple installation process. This sensor transfers strain from the shaft and amplifies it to increase sensitivity. Furthermore, this sensor requires no components to be in the stationary reference frame, allowing the entire device to rotate with the shaft. A prototype is presented. Experimental results illustrate the effectiveness of the proposed system.
51.
Fangzhou Xia; Chen Yang; Yi Wang; Kamal Youcef-Toumi; Christoph Reuter; Tzvetan Ivanov; Mathias Holz; Ivo W Rangelow
Lights Out! Nano-Scale Topography Imaging of Sample Surface in Opaque Liquid Environments with Coated Active Cantilever Probes Journal Article
In: Nanomaterials, vol. 9, no. 7, pp. 1013, 2019.
Abstract | Links | BibTeX | Tags: Experimentation, Fabrication, Full text available online, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization
@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}
}
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.
50.
Kai Meng; Bo Jiang; Christos D Samolis; Mohamad Alrished; Kamal Youcef-Toumi
Unevenly spaced continuous measurement approach for dual rotating--retarder Mueller matrix ellipsometry Journal Article
In: Opt. Express, vol. 27, no. 10, pp. 14736–14753, 2019, ISSN: 1094-4087.
Abstract | Links | BibTeX | Tags: Algorithms, Computational Intelligence, Intelligent optical characterization for nano-manufacturing, Nanotechnology, Physical System Modeling
@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}
}
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.
2018
49.
Chen Yang; Changle Li; Fangzhou Xia; Yanhe Zhu; Jie Zhao; Kamal Youcef-Toumi
Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth Journal Article
In: IEEE Transactions on Industrial Electronics, vol. 66, no. 7, pp. 5392–5402, 2018.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation
@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}
}
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.
48.
Fangzhou Xia; Stephen Truncale; Yi Wang; Kamal Youcef-Toumi
Design and Control of a Multi-actuated High-bandwidth and Large-range Scanner for Atomic Force Microscopy Proceedings Article
In: 2018 Annual American Control Conference (ACC), pp. 4330–4335, IEEE IEEE, 2018.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation
@inproceedings{MRL_AFM_Dual_Actuated_Scanner,
title = {Design and Control of a Multi-actuated High-bandwidth and Large-range Scanner for Atomic Force Microscopy},
author = {Fangzhou Xia and Stephen Truncale and Yi Wang and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/8431801},
doi = {10.23919/ACC.2018.8431801},
year = {2018},
date = {2018-08-16},
booktitle = {2018 Annual American Control Conference (ACC)},
pages = {4330--4335},
publisher = {IEEE},
organization = {IEEE},
abstract = {Atomic force microscopes (AFMs) with high-speed and large-range capabilities open up possibilities for many new applications. It is desirable to have a large scanning range along with zooming ability to obtain high resolution and high frame-rate imaging. Such capabilities will increase the imaging throughput and allow more sophisticated observations at the nanoscale. Unfortunately, in-plane scanning of conventional piezo tube scanners typically covers a large range of hundreds of microns but has limited bandwidth up to several hundred Hertz. The main focus of this paper is the multi-actuated piezo scanner design and control algorithm to achieve high-speed tracking. Three design strategies for structure bandwidth and operational range consideration are presented and evaluated. The non-linear hysteresis effect of the piezo actuators is modeled using the Preisach hysteresis model. PID control, iterative learning control and repetitive control strategies were investigated in simulation. Based on the controllers performance, the repetitive controller is implemented on a high-speed FPGA device and experimentally verified. The new AFM scanner design is capable of 10 kHz tracking at 3 μm range and 200 Hz tracking at 100 μm range.},
keywords = {Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Atomic force microscopes (AFMs) with high-speed and large-range capabilities open up possibilities for many new applications. It is desirable to have a large scanning range along with zooming ability to obtain high resolution and high frame-rate imaging. Such capabilities will increase the imaging throughput and allow more sophisticated observations at the nanoscale. Unfortunately, in-plane scanning of conventional piezo tube scanners typically covers a large range of hundreds of microns but has limited bandwidth up to several hundred Hertz. The main focus of this paper is the multi-actuated piezo scanner design and control algorithm to achieve high-speed tracking. Three design strategies for structure bandwidth and operational range consideration are presented and evaluated. The non-linear hysteresis effect of the piezo actuators is modeled using the Preisach hysteresis model. PID control, iterative learning control and repetitive control strategies were investigated in simulation. Based on the controllers performance, the repetitive controller is implemented on a high-speed FPGA device and experimentally verified. The new AFM scanner design is capable of 10 kHz tracking at 3 μm range and 200 Hz tracking at 100 μm range.
2017
47.
Ivo W Rangelow; Tzvetan Ivanov; Ahmad Ahmad; Marcus Kaestner; Claudia Lenk; Iman Soltani Bozchalooi; Fangzhou Xia; Kamal Youcef-Toumi; Mathias Holz; Alexander Reum
Review Article: Active scanning probes: A versatile toolkit for fast imaging and emerging nanofabrication Journal Article
In: Journal of Vacuum Science & Technology B, Nanotechnology and Microelectronics: Materials, Processing, Measurement, and Phenomena, vol. 35, no. 6, pp. 06G101, 2017.
Abstract | Links | BibTeX | Tags: Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization
@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}
}
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.
46.
L Yang; I Paranawithana; K Youcef-Toumi; U Tan
Automatic Vision-Guided Micromanipulation for Versatile Deployment and Portable Setup Journal Article
In: IEEE Transactions on Automation Science and Engineering, vol. 15, no. 4, pp. 1609-1620, 2017, ISSN: 1558-3783.
Abstract | Links | BibTeX | Tags: Control Theory, Mechatronic Design, Physical System Modeling, Robot operated modular fixtures, Robotics & Automation
@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}
}
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.
45.
Fangzhou Xia; Iman Soltani Bozchalooi; Kamal Youcef-Toumi
Induced Vibration Contact Detection for Minimizing Cantilever Tip-Sample Interaction Forces in Jumping Mode Atomic Force Microscopy Proceedings Article
In: 2017 American Control Conference (ACC), pp. 4141–4146, IEEE IEEE, 2017, ISBN: 978-1-5090-5992-8.
Abstract | Links | BibTeX | Tags: Algorithms, Control Theory, Experimentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation
@inproceedings{MRL_AFM_IVCD,
title = {Induced Vibration Contact Detection for Minimizing Cantilever Tip-Sample Interaction Forces in Jumping Mode Atomic Force Microscopy},
author = {Fangzhou Xia and Iman Soltani Bozchalooi and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/7963591},
doi = {10.23919/ACC.2017.7963591},
isbn = {978-1-5090-5992-8},
year = {2017},
date = {2017-07-03},
booktitle = {2017 American Control Conference (ACC)},
pages = {4141--4146},
publisher = {IEEE},
organization = {IEEE},
abstract = {Minimizing tip-sample interaction force is crucial for the performance of atomic force microscopes when imaging delicate samples. Conventional methods based on jumping mode such as peak force tapping require a prescribed maximum interaction force to detect tip-sample contact. However, due to the presence of drag forces (in aqueous environments), noises and cantilever dynamics, the minimal detectable peak force can be large. This results in large tip-sample interaction forces and hence sample damage. To minimize this force, we propose a method based on induction of surface or probe vibrations to detect contact between cantilever probe tip and sample substrate. To illustrate the effectiveness of the method, we report experimental results for contact detection on a PS-LDPE-12M polymer sample. A topography tracking control algorithm based on the proposed contact detection scheme is also presented.},
keywords = {Algorithms, Control Theory, Experimentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Minimizing tip-sample interaction force is crucial for the performance of atomic force microscopes when imaging delicate samples. Conventional methods based on jumping mode such as peak force tapping require a prescribed maximum interaction force to detect tip-sample contact. However, due to the presence of drag forces (in aqueous environments), noises and cantilever dynamics, the minimal detectable peak force can be large. This results in large tip-sample interaction forces and hence sample damage. To minimize this force, we propose a method based on induction of surface or probe vibrations to detect contact between cantilever probe tip and sample substrate. To illustrate the effectiveness of the method, we report experimental results for contact detection on a PS-LDPE-12M polymer sample. A topography tracking control algorithm based on the proposed contact detection scheme is also presented.
44.
S Mekid; D Wu; R Hussain; K Youcef-Toumi
Channel modeling and testing of wireless transmission for underground in-pipe leak and material loss detection Journal Article
In: International Journal of Distributed Sensor Networks, vol. 13, no. 11, pp. 1550147717744715, 2017, ISSN: 1550147717744715.
Abstract | Links | BibTeX | Tags: Fabrication, Inspection, Inspection; repair and intelligence for water distribution pipes, Instrumentation, Mechatronic Design, Nanotechnology, Physical System Modeling
@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}
}
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.
2016
43.
Taha Elmokadem; Mohamed Zribi; Kamal Youcef-Toumi
Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles Journal Article
In: Ocean Engineering, vol. 129, pp. 613-625, 2016, ISSN: 0029-8018.
Abstract | Links | BibTeX | Tags: Computer vision for autonomous vehicle sensing, Instrumentation, Mechatronic Design, Physical System Modeling, Robotics & Automation
@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}
}
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.
42.
Bekir Yilbas; Haider Ali; Naseer Al-Aqeeli; Mazen Khaled; Syed Said; Abu Dheir N; Necar Merah; Kamal Youcef-Toumi; Kripa Varanasi
Characterization of Environmental Dust in the Dammam Area and Mud After-Effects on Bisphenol-A Polycarbonate Sheets Journal Article
In: Scientific Reports, vol. 6, pp. 24308, 2016, ISSN: 24308.
Abstract | Links | BibTeX | Tags: Data-driven learning for intelligent machine maintenance, Mechatronic Design, Physical System Modeling, Robotics & Automation, Simulation, Visualization
@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}
}
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.
2015
41.
You Wu; Antoine Noel; David Donghyun Kim; Kamal Youcef-Toumi; Rached Ben-Mansour
Design of a maneuverable swimming robot for in-pipe missions Proceedings Article
In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4864-4871, IEEE IEEE, 2015, ISBN: 978-1-4799-9994-1.
Abstract | Links | BibTeX | Tags: Experimentation, Inspection; repair and intelligence for water distribution pipes, intelligent systems, Physical System Modeling, Simulation, Visualization
@inproceedings{MRL_WDP_In_Pipe_Missions,
title = {Design of a maneuverable swimming robot for in-pipe missions},
author = {You Wu and Antoine Noel and David Donghyun Kim and Kamal Youcef-Toumi and Rached Ben-Mansour},
url = {https://ieeexplore.ieee.org/document/7354061},
doi = {10.1109/IROS.2015.7354061},
isbn = {978-1-4799-9994-1},
year = {2015},
date = {2015-12-17},
booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {4864-4871},
publisher = {IEEE},
organization = {IEEE},
abstract = {Autonomous underwater robots provide opportunities to perform missions in confined environments such as water pipe networks. They can carry sensors in these pipes and perform tasks such as mapping and inspection. Those robots must have a high level of maneuverability in order to navigate through complex networks of pipes with irregularities due to rust and calcite deposition. We propose a fully integrated, untethered robot capable of carrying sensors and maneuver into water pipe networks. The objective of this paper is to present (i) the optimal shape design and (ii) a propulsion system selection and sizing procedure for such robots. A prototype is built to demonstrate the basic elements of maneuverability, including following straight lines and making sharp turns.},
keywords = {Experimentation, Inspection; repair and intelligence for water distribution pipes, intelligent systems, Physical System Modeling, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
Autonomous underwater robots provide opportunities to perform missions in confined environments such as water pipe networks. They can carry sensors in these pipes and perform tasks such as mapping and inspection. Those robots must have a high level of maneuverability in order to navigate through complex networks of pipes with irregularities due to rust and calcite deposition. We propose a fully integrated, untethered robot capable of carrying sensors and maneuver into water pipe networks. The objective of this paper is to present (i) the optimal shape design and (ii) a propulsion system selection and sizing procedure for such robots. A prototype is built to demonstrate the basic elements of maneuverability, including following straight lines and making sharp turns.
40.
Amro M Farid; Bo Jiang; Aramazd Muzhikyan; Kamal Youcef-Toumi
The need for holistic enterprise control assessment methods for the future electricity grid Journal Article
In: Renewable and Sustainable Energy Reviews, vol. 56, pp. 669-685, 2015, ISSN: 1364-0321.
Abstract | Links | BibTeX | Tags: Algorithms, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation
@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}
}
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.
39.
Ahmed Owais; Mazen M Khaled; Bekir S Yilbas; Numan Abu-Dheir; Kripa K Varanasi; Kamal Y Toumi
Surface and wetting characteristics of textured bisphenol-A based polycarbonate surfaces: Acetone-induced crystallization texturing methods Journal Article
In: Journal of Applied Polymer Science, vol. 133, no. 14, 2015, ISSN: 43074.
Abstract | Links | BibTeX | Tags: Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization
@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}
}
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.
38.
Bo Jiang; Amro M Farid; Kamal Youcef-Toumi
Impacts of Industrial Baseline Errors on Costs and Social Welfare in the Demand Side Management of Day-Ahead Wholesale Markets Proceedings Article
In: ASME 2015 13th International Conference on Fuel Cell Science, Engineering and Technology, and the ASME 2015 Nuclear Forum, pp. 7390-7395, IEEE IEEE, 2015, ISSN: 1558-3783.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, Nanotechnology, Physical System Modeling, Simulation, Visualization
@inproceedings{MRL_WDP_Pipe_Leak_Repair,
title = {Impacts of Industrial Baseline Errors on Costs and Social Welfare in the Demand Side Management of Day-Ahead Wholesale Markets},
author = {Bo Jiang and Amro M Farid and Kamal Youcef-Toumi},
url = {https://asmedigitalcollection.asme.org/ES/proceedings/ES2015/56857/V002T12A003/230063},
doi = {https://doi.org/10.1115/ES2015-49459},
issn = {1558-3783},
year = {2015},
date = {2015-10-27},
booktitle = {ASME 2015 13th International Conference on Fuel Cell Science, Engineering and Technology, and the ASME 2015 Nuclear Forum},
journal = {IEEE Transactions on Automation Science and Engineering},
volume = {15},
number = {4},
pages = {7390-7395},
publisher = {IEEE},
organization = {IEEE},
abstract = {Demand Side Management (DSM},
keywords = {Control Theory, Experimentation, Nanotechnology, Physical System Modeling, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
Demand Side Management (DSM
37.
Bo Jiang; Amro M Farid; Kamal Youcef-Toumi
A comparison of day-ahead wholesale market: Social welfare vs industrial demand side management Proceedings Article
In: 2015 IEEE International Conference on Industrial Technology (ICIT), pp. 2742-2749, IEEE IEEE, 2015, ISBN: 978-1-4799-7800-7.
Abstract | Links | BibTeX | Tags: Algorithms, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling
@inproceedings{MRL_UEC_Welfare_vs_DSM,
title = {A comparison of day-ahead wholesale market: Social welfare vs industrial demand side management},
author = {Bo Jiang and Amro M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/abstract/document/7125502?section=abstract},
doi = {10.1109/ICIT.2015.7125502},
isbn = {978-1-4799-7800-7},
year = {2015},
date = {2015-06-18},
booktitle = {2015 IEEE International Conference on Industrial Technology (ICIT)},
pages = {2742-2749},
publisher = {IEEE},
organization = {IEEE},
abstract = {The intermittent nature of renewable energy has been discussed in the context of the operational challenges that it brings to electrical grid reliability. In contrast, Demand Side Management (DSM) with its ability to allow customers to adjust electricity consumption in response to market signals has often been recognized as an efficient way to mitigate the variable effects of renewable energy. However, the industrial & academic literature have taken divergent approaches to DSM implementation. Academic studies often implement demand side management on the basis of a social welfare maximization. Meanwhile, industrial implementations minimize total system costs where customers are compensated for load reductions from a predefined baseline of electricity consumption that would have occurred without DSM. This paper rigorously compares these two different approaches in a day-ahead wholesale market context using the same system configuration and mathematical formalism. The comparison showed that a proper reconciliation between the dispatchable demand utility function and the load reduction cost function lead to fundamentally the same stochastic netload mitigation and the two DSM models generate the same dispatch results under specific conditions. However, while the social welfare model uses a stochastic net load composed of two terms, the industrial DSM model uses a stochastic net load composed of three terms, and is thus more prone to error and more likely requires more control activity in subsequent layers of enterprise control.},
keywords = {Algorithms, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling},
pubstate = {published},
tppubtype = {inproceedings}
}
The intermittent nature of renewable energy has been discussed in the context of the operational challenges that it brings to electrical grid reliability. In contrast, Demand Side Management (DSM) with its ability to allow customers to adjust electricity consumption in response to market signals has often been recognized as an efficient way to mitigate the variable effects of renewable energy. However, the industrial & academic literature have taken divergent approaches to DSM implementation. Academic studies often implement demand side management on the basis of a social welfare maximization. Meanwhile, industrial implementations minimize total system costs where customers are compensated for load reductions from a predefined baseline of electricity consumption that would have occurred without DSM. This paper rigorously compares these two different approaches in a day-ahead wholesale market context using the same system configuration and mathematical formalism. The comparison showed that a proper reconciliation between the dispatchable demand utility function and the load reduction cost function lead to fundamentally the same stochastic netload mitigation and the two DSM models generate the same dispatch results under specific conditions. However, while the social welfare model uses a stochastic net load composed of two terms, the industrial DSM model uses a stochastic net load composed of three terms, and is thus more prone to error and more likely requires more control activity in subsequent layers of enterprise control.
36.
Andreas Schuh; Iman Soltani Bozchalooi; Ivo W Rangelow; Kamal Youcef-Toumi
Multi-eigenmode control for high material contrast in bimodal and higher harmonic atomic force microscopy Journal Article
In: Nanotechnology, vol. 26, no. 23, pp. 235706, 2015.
Abstract | Links | BibTeX | Tags: Algorithms, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation
@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}
}
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.
35.
Hadi Nia; Lin Han; Iman Soltani; Peter Roughley; Kamal Youcef-Toumi; Alan Grodzinsky; Christine Ortiz
Aggrecan Nanoscale Solid–Fluid Interactions Are a Primary Determinant of Cartilage Dynamic Mechanical Properties Journal Article
In: ACS nano, vol. 9, 2015, ISSN: 2614-2625.
Abstract | Links | BibTeX | Tags: Experimentation, Fabrication, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling
@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 solidfluid
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) 1015 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}
}
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 solidfluid
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) 1015 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.
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 solidfluid
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) 1015 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.
34.
Sabrina Titri; Cherif Larbes; Kamal Youcef-Toumi
Rapid prototyping of PVS into FPGA: From model based design to FPGA/ASICs implementation Proceedings Article
In: 2014 9th International Design and Test Symposium (IDT), pp. 162-167, IEEE IEEE, 2015, ISBN: 978-1-4799-8200-4.
Abstract | Links | BibTeX | Tags: Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation
@inproceedings{MRL_SG_PVS_MPPT_Optimization,
title = {Rapid prototyping of PVS into FPGA: From model based design to FPGA/ASICs implementation},
author = {Sabrina Titri and Cherif Larbes and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/7038606},
doi = {10.1109/IDT.2014.7038606},
isbn = {978-1-4799-8200-4},
year = {2015},
date = {2015-02-15},
booktitle = {2014 9th International Design and Test Symposium (IDT)},
pages = {162-167},
publisher = {IEEE},
organization = {IEEE},
abstract = {A wide variety of maximum power point tracking (MPPT) algorithms for photovoltaic systems (PVS) have been proposed and developed. These MPPT algorithms vary in many aspects such as the selected criteria and techniques used. In this paper, we propose an effective design methodology for hardware implementation of PVS into FPGA/ASICs. To achieve our goal, we propose the application of the model based design at high level using the Matlab/Simulink which includes the HDL Coder Tool. The approach will assist the designer to develop and prototype in a relatively short time by eliminating time consuming and error prone due to manual coding. The proposed design methodology has been applied to the well know Pertub and Observe (P&O) MPPT controller. The Matlab/Simulink model of the P&O controller is optimized and converted to target, Hardware Description Language (HDL) code for FPGA/ASIC. The whole architecture of the P&O controller has been implemented on a Xilinx Spartan 3E prototyping board. We demonstrate that the generated RTL code can be easily mapped into FPGA/ASICs, which allow the rapid prototyping of PVS with more complex algorithms.},
keywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
A wide variety of maximum power point tracking (MPPT) algorithms for photovoltaic systems (PVS) have been proposed and developed. These MPPT algorithms vary in many aspects such as the selected criteria and techniques used. In this paper, we propose an effective design methodology for hardware implementation of PVS into FPGA/ASICs. To achieve our goal, we propose the application of the model based design at high level using the Matlab/Simulink which includes the HDL Coder Tool. The approach will assist the designer to develop and prototype in a relatively short time by eliminating time consuming and error prone due to manual coding. The proposed design methodology has been applied to the well know Pertub and Observe (P&O) MPPT controller. The Matlab/Simulink model of the P&O controller is optimized and converted to target, Hardware Description Language (HDL) code for FPGA/ASIC. The whole architecture of the P&O controller has been implemented on a Xilinx Spartan 3E prototyping board. We demonstrate that the generated RTL code can be easily mapped into FPGA/ASICs, which allow the rapid prototyping of PVS with more complex algorithms.
33.
Amith Somanath; Sertac Karaman; Kamal Youcef-Toumi
Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers Proceedings Article
In: 53rd IEEE Conference on Decision and Control, pp. 1432-1437, IEEE IEEE, 2015, ISBN: 978-1-4673-6090-6.
Abstract | Links | BibTeX | Tags: Algorithms, Computational Intelligence, Computer vision for autonomous vehicle sensing, intelligent systems, Physical System Modeling, Simulation
@inproceedings{MRL_AVS_Robotic_Wildfire_Control,
title = {Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers},
author = {Amith Somanath and Sertac Karaman and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/7039602},
doi = {10.1109/CDC.2014.7039602},
isbn = {978-1-4673-6090-6},
year = {2015},
date = {2015-02-15},
booktitle = {53rd IEEE Conference on Decision and Control},
pages = {1432-1437},
publisher = {IEEE},
organization = {IEEE},
abstract = {Forest fires continue to cause considerable social and economic damage. Fortunately, the emergence of new robotics technologies, including capable autonomous unmanned aerial vehicles, may help improve wildfire management in the near future. In this paper, we characterize the number of vehicles required to combat wildfires, using a percolation-theoretic analysis that originated in the mathematical physics community. We model the wildfire as a stochastic growth process on a square lattice, where the local growth probabilities depend on the presence of robotic fire-extinguishing vehicles. We develop two control policies: First treats only a fraction of burning nodes at a given time, and the second treats burning nodes only at finite time intervals. We characterize the conditions under which these policies can stabilize a wildfire, i.e., ensure the fire stops eventually almost surely. We also provide computational results which demonstrate our theoretical analysis.},
keywords = {Algorithms, Computational Intelligence, Computer vision for autonomous vehicle sensing, intelligent systems, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Forest fires continue to cause considerable social and economic damage. Fortunately, the emergence of new robotics technologies, including capable autonomous unmanned aerial vehicles, may help improve wildfire management in the near future. In this paper, we characterize the number of vehicles required to combat wildfires, using a percolation-theoretic analysis that originated in the mathematical physics community. We model the wildfire as a stochastic growth process on a square lattice, where the local growth probabilities depend on the presence of robotic fire-extinguishing vehicles. We develop two control policies: First treats only a fraction of burning nodes at a given time, and the second treats burning nodes only at finite time intervals. We characterize the conditions under which these policies can stabilize a wildfire, i.e., ensure the fire stops eventually almost surely. We also provide computational results which demonstrate our theoretical analysis.
32.
Aramazd Muzhikyan; Amro M Farid; Kamal Youcef-Toumi
A power grid enterprise control method for energy storage system integration Proceedings Article
In: IEEE PES Innovative Smart Grid Technologies, Europe, pp. 1-6, 2015, ISBN: 978-1-4799-7720-8.
Abstract | Links | BibTeX | Tags: intelligent systems, Modeling; sizing and control of smart grids, Physical System Modeling, Simulation
@inproceedings{MRL_SG_Grid_Enterprise_Control,
title = {A power grid enterprise control method for energy storage system integration},
author = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/7028898},
doi = {10.1109/ISGTEurope.2014.7028898},
isbn = {978-1-4799-7720-8},
year = {2015},
date = {2015-02-02},
booktitle = {IEEE PES Innovative Smart Grid Technologies, Europe},
pages = {1-6},
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 systems (ESS) may be integrated as energy, load following, or regulation resources. A review of the existing literature shows that most ESS 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 to capture and potentially control the interactions between timescales. This paper now uses such an enterprise control model to demonstrate the multiple timescale effects as a consequence of ESS integration into a single control action. It also proposes a novel scheduling technique which beneficially exploits this coupling in two timescales. As a result, the ESS scheduling technique shows peak-loading shaving and operating costs reductions in the SCUC and load following reserve requirements in the SCED.},
keywords = {intelligent systems, Modeling; sizing and control of smart grids, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
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 systems (ESS) may be integrated as energy, load following, or regulation resources. A review of the existing literature shows that most ESS 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 to capture and potentially control the interactions between timescales. This paper now uses such an enterprise control model to demonstrate the multiple timescale effects as a consequence of ESS integration into a single control action. It also proposes a novel scheduling technique which beneficially exploits this coupling in two timescales. As a result, the ESS scheduling technique shows peak-loading shaving and operating costs reductions in the SCUC and load following reserve requirements in the SCED.
2014
31.
B N Shapiro; R Adhikari; J Driggers; J Kissel; B Lantz; J Rollins; K Youcef-Toumi
Noise and control decoupling of Advanced LIGO suspensions Journal Article
In: Classical and Quantum Gravity, vol. 32, no. 1, pp. 015004, 2014.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling, Visualization
@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}
}
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.
30.
Reshma C Francy; Amro M Farid; Kamal Youcef-Toumi
Event triggered state estimation techniques for power systems with integrated variable energy resources Journal Article
In: ISA transactions, vol. 56, pp. 165—172, 2014, ISSN: 0019-0578.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation
@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}
}
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.
29.
William Lubega; Apoorva Santhosh; Amro M Farid; Kamal Youcef-Toumi
An Integrated Energy and Water Market for the Supply Side of the Energy-Water Nexus in the Engineered Infrastructure Proceedings Article
In: ASME 2014 Power Conference, 2014, ISBN: 978-0-7918-4609-4.
Abstract | Links | BibTeX | Tags: Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation
@inproceedings{MRL_SG_Integrated_Electric_Water,
title = {An Integrated Energy and Water Market for the Supply Side of the Energy-Water Nexus in the Engineered Infrastructure},
author = {William Lubega and Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},
url = {https://asmedigitalcollection.asme.org/POWER/proceedings/POWER2014/46094/V002T10A003/282270},
doi = {10.1115/POWER2014-32075},
isbn = {978-0-7918-4609-4},
year = {2014},
date = {2014-11-19},
booktitle = {ASME 2014 Power Conference},
abstract = {In regions that utilize thermal desalination as part of their water supply portfolio, the cogeneration of water and power in cogeneration desalination plants couples the supply sides of the electricity and water grids. For a fixed plant design, there is a limited range of ratios of generated electric power to produced water at any given time. Due to this coupling, electricity and water require co-optimization. In an environment in which electricity supply is determined by deregulated wholesale markets, this need for co-optimization suggests a need for integrated electricity and water markets. In this market, independent power producers, independent water producers and independent cogeneration plants would submit bids to satisfy demand over a time horizon to a clearing mechanism, indicating relevant physical constraints. The mechanism would then optimize supply of both electricity and water over the time horizon of interest. Recently, a simultaneous co-optimization method has been contributed for the economic dispatch of networks that include water, power and cogeneration facilities in such an integrated market. This paper builds upon this foundation with the introduction of the corresponding unit commitment problem.},
keywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
In regions that utilize thermal desalination as part of their water supply portfolio, the cogeneration of water and power in cogeneration desalination plants couples the supply sides of the electricity and water grids. For a fixed plant design, there is a limited range of ratios of generated electric power to produced water at any given time. Due to this coupling, electricity and water require co-optimization. In an environment in which electricity supply is determined by deregulated wholesale markets, this need for co-optimization suggests a need for integrated electricity and water markets. In this market, independent power producers, independent water producers and independent cogeneration plants would submit bids to satisfy demand over a time horizon to a clearing mechanism, indicating relevant physical constraints. The mechanism would then optimize supply of both electricity and water over the time horizon of interest. Recently, a simultaneous co-optimization method has been contributed for the economic dispatch of networks that include water, power and cogeneration facilities in such an integrated market. This paper builds upon this foundation with the introduction of the corresponding unit commitment problem.
28.
Dimitris Chatzigeorgiou; Kamal Youcef-Toumi; Rached Ben-Mansour
Detection estimation algorithms for in-pipe leak detection Proceedings Article
In: 2014 American Control Conference, pp. 5508-5514, 2014, ISBN: 978-1-4799-3274-0.
Abstract | Links | BibTeX | Tags: Algorithms, Control Theory, Experimentation, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics and Automation, Simulation
@inproceedings{MRL_WDP_Estimation_Algorithms,
title = {Detection estimation algorithms for in-pipe leak detection},
author = {Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Rached Ben-Mansour},
url = {https://ieeexplore.ieee.org/document/6859203},
doi = {10.1109/ACC.2014.6859203},
isbn = {978-1-4799-3274-0},
year = {2014},
date = {2014-07-21},
booktitle = {2014 American Control Conference},
pages = {5508-5514},
abstract = {Leakage is the most important factor for unaccounted losses in any pipe network around the world. However, most state of the art leak detection systems have limited applicability, lack in reliability and/or depend on user experience for data interpretation. In this paper we present a new, autonomous, in-pipe, leak detection system. The detection principle is based on the presence of a pressure gradient in the neighborhood of a leak in a pressurized pipe. This phenomenon is translated into force measurements via a carefully designed and instrumented mechanical embodiment (MIT Leak Detector). We then introduce a detection and estimation scheme. The latter one allows not only for the reliable detection, but also for the estimation of the incidence angle and the magnitude of the forces that are associated with the leak. Finally, a prototype is built and experiments in pipes are conducted to demonstrate the efficacy of the proposed methodology.},
keywords = {Algorithms, Control Theory, Experimentation, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics and Automation, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Leakage is the most important factor for unaccounted losses in any pipe network around the world. However, most state of the art leak detection systems have limited applicability, lack in reliability and/or depend on user experience for data interpretation. In this paper we present a new, autonomous, in-pipe, leak detection system. The detection principle is based on the presence of a pressure gradient in the neighborhood of a leak in a pressurized pipe. This phenomenon is translated into force measurements via a carefully designed and instrumented mechanical embodiment (MIT Leak Detector). We then introduce a detection and estimation scheme. The latter one allows not only for the reliable detection, but also for the estimation of the incidence angle and the magnitude of the forces that are associated with the leak. Finally, a prototype is built and experiments in pipes are conducted to demonstrate the efficacy of the proposed methodology.
27.
Soltani I Bozchalooi; Kamal Youcef-Toumi
Control design for division and compensation with application to high-speed/large-range nano-positioning Proceedings Article
In: 2014 American Control Conference, pp. 1643-1648, IEEE IEEE, 2014, ISBN: 978-1-4799-3274-0.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization
@inproceedings{MRL_AFM_Nano_Positioning_Control,
title = {Control design for division and compensation with application to high-speed/large-range nano-positioning},
author = {Soltani I Bozchalooi and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6859262},
doi = {10.1109/ACC.2014.6859262},
isbn = {978-1-4799-3274-0},
year = {2014},
date = {2014-07-21},
booktitle = {2014 American Control Conference},
pages = {1643-1648},
publisher = {IEEE},
organization = {IEEE},
abstract = {In this paper an easy to implement control design strategy is proposed to achieve large range and high speed nano-positioning. The designed controllers aim to divide the positioning task between multiple large range/low speed and small range/high speed nano-positioners. Each controller assigns the proper frequency range to individual nano-positioners, and simultaneously compensates for the corresponding excited dynamics at high positioning speeds. Control design is formulated in the form of several single input-single output (SISO) system identification problems. The proposed approach removes the need for fundamental changes in the design of the conventional scanners such as piezo tubes for applications necessitating high speed and large range nano-positioning.},
keywords = {Control Theory, Experimentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
In this paper an easy to implement control design strategy is proposed to achieve large range and high speed nano-positioning. The designed controllers aim to divide the positioning task between multiple large range/low speed and small range/high speed nano-positioners. Each controller assigns the proper frequency range to individual nano-positioners, and simultaneously compensates for the corresponding excited dynamics at high positioning speeds. Control design is formulated in the form of several single input-single output (SISO) system identification problems. The proposed approach removes the need for fundamental changes in the design of the conventional scanners such as piezo tubes for applications necessitating high speed and large range nano-positioning.
26.
Ethan B Heller; Kamal Youcef-Toumi
Analysis and control of a thermal management system for robots in temperature-restricted environments Proceedings Article
In: 2014 American Control Conference, 2014, ISBN: 978-1-4799-3274-0.
Abstract | Links | BibTeX | Tags: Control Theory, Data-driven learning for intelligent machine maintenance, intelligent systems, Physical System Modeling, Simulation
@inproceedings{MRL_DDL_Thermal_Robot_Management,
title = {Analysis and control of a thermal management system for robots in temperature-restricted environments},
author = {Ethan B Heller and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6858774&isnumber=6858556},
doi = {10.1109/ACC.2014.6858774},
isbn = {978-1-4799-3274-0},
year = {2014},
date = {2014-06-01},
booktitle = {2014 American Control Conference},
abstract = {Detailed simulations were performed with a model of a proposed thermal management system (TMS) that allows robots to operate within environments that are hostile to the free expulsion of waste heat. Previous simulations have shown that a closed-loop control method is necessary for the proposed TMS to maintain proper robot operation for long missions. A closed-loop control based on model-predictive methods was constructed in MATLAB around the model of the TMS so long missions are possible without violating any of the operating constraints of the robot or the environment. The closed-loop simulations results show that the control successfully maintains robot operation within the environment for a long mission.},
keywords = {Control Theory, Data-driven learning for intelligent machine maintenance, intelligent systems, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Detailed simulations were performed with a model of a proposed thermal management system (TMS) that allows robots to operate within environments that are hostile to the free expulsion of waste heat. Previous simulations have shown that a closed-loop control method is necessary for the proposed TMS to maintain proper robot operation for long missions. A closed-loop control based on model-predictive methods was constructed in MATLAB around the model of the TMS so long missions are possible without violating any of the operating constraints of the robot or the environment. The closed-loop simulations results show that the control successfully maintains robot operation within the environment for a long mission.
25.
Sergio Rivera; Amro M Farid; Kamal Youcef-Toumi
A multi-agent system transient stability platform for resilient self-healing operation of multiple microgrids Proceedings Article
In: ISGT 2014, pp. 1-5, IEEE IEEE, 2014, ISBN: 978-1-4799-3653-3.
Abstract | Links | BibTeX | Tags: Computational Intelligence, intelligent systems, Modeling; Systems and Control of Smart Grids, Physical System Modeling, Simulation, Visualization
@inproceedings{MRL_SG_Multi_Agent_Micro_Grid,
title = {A multi-agent system transient stability platform for resilient self-healing operation of multiple microgrids},
author = {Sergio Rivera and Amro M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6816377},
doi = {10.1109/ISGT.2014.6816377},
isbn = {978-1-4799-3653-3},
year = {2014},
date = {2014-05-19},
booktitle = {ISGT 2014},
pages = {1-5},
publisher = {IEEE},
organization = {IEEE},
abstract = {This paper proposes a multi-agent transient stability platform for the study of self-operation of multiple microgrids. This platform combines a MATLAB-based time domain simulation of the grid's transient stability with a JAVA-JADE (JAVA Agent DEvelopment Framework) which supports the development of multi-agent systems that utilize distributed artificial intelligence techniques that support simultaneous, geographically-distributed, and coordinated decision-making techniques. This hybrid platform leverages the numerical strengths of MATLAB with JAVA's multi-threaded decision-making capability. To that effect, the platform was tested on two complementary test cases: one to demonstrate a dynamic reconfiguration capability and another to demonstrate the decentralized dispatch of multiple microgrids. The work presents many opportunities for future developments in the domain of resilient self-healing operation of power grids.},
keywords = {Computational Intelligence, intelligent systems, Modeling; Systems and Control of Smart Grids, Physical System Modeling, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
This paper proposes a multi-agent transient stability platform for the study of self-operation of multiple microgrids. This platform combines a MATLAB-based time domain simulation of the grid's transient stability with a JAVA-JADE (JAVA Agent DEvelopment Framework) which supports the development of multi-agent systems that utilize distributed artificial intelligence techniques that support simultaneous, geographically-distributed, and coordinated decision-making techniques. This hybrid platform leverages the numerical strengths of MATLAB with JAVA's multi-threaded decision-making capability. To that effect, the platform was tested on two complementary test cases: one to demonstrate a dynamic reconfiguration capability and another to demonstrate the decentralized dispatch of multiple microgrids. The work presents many opportunities for future developments in the domain of resilient self-healing operation of power grids.
24.
D Chatzigeorgiou; K Youcef-Toumi; R Ben-Mansour
Design of a Novel In-Pipe Reliable Leak Detector Journal Article
In: IEEE/ASME Transactions on Mechatronics, vol. 20, no. 2, pp. 824-833, 2014, ISSN: 1941-014X.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, Inspection, Physical System Modeling, repair & intelligence for water distribution pipes, Robotics & Automation
@article{MRL_AFM_Leak_Detector,
title = {Design of a Novel In-Pipe Reliable Leak Detector},
author = {D Chatzigeorgiou and K Youcef-Toumi and R Ben-Mansour},
url = {https://ieeexplore.ieee.org/document/6778062?arnumber=6778062},
doi = {10.1109/TMECH.2014.2308145},
issn = {1941-014X},
year = {2014},
date = {2014-03-25},
journal = {IEEE/ASME Transactions on Mechatronics},
volume = {20},
number = {2},
pages = {824-833},
publisher = {IEEE},
abstract = {Leakage is the major factor for unaccounted losses in every pipe network around the world (oil, gas, or water). In most cases, the deleterious effects associated with the occurrence of leaks may present serious economical and health problems. Therefore, leaks must be quickly detected, located, and repaired. Unfortunately, most state-of-the-art leak detection systems have limited applicability, are neither reliable nor robust, while others depend on the user experience. In this paper, we present a new in-pipe leak detection system. It performs autonomous leak detection in pipes and, thus, eliminates the need for the user experience. This paper focuses on the detection module and its main characteristics. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. Moreover, the proposed detector can sense leaks at any angle around the circumference of the pipe with only two sensors. We validate the concepts by building a prototype and evaluate the system's performance under real conditions in an experimental laboratory setup.},
keywords = {Control Theory, Experimentation, Inspection, Physical System Modeling, repair & intelligence for water distribution pipes, Robotics & Automation},
pubstate = {published},
tppubtype = {article}
}
Leakage is the major factor for unaccounted losses in every pipe network around the world (oil, gas, or water). In most cases, the deleterious effects associated with the occurrence of leaks may present serious economical and health problems. Therefore, leaks must be quickly detected, located, and repaired. Unfortunately, most state-of-the-art leak detection systems have limited applicability, are neither reliable nor robust, while others depend on the user experience. In this paper, we present a new in-pipe leak detection system. It performs autonomous leak detection in pipes and, thus, eliminates the need for the user experience. This paper focuses on the detection module and its main characteristics. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. Moreover, the proposed detector can sense leaks at any angle around the circumference of the pipe with only two sensors. We validate the concepts by building a prototype and evaluate the system's performance under real conditions in an experimental laboratory setup.
23.
Dalei Wu; Dimitris Chatzigeorgiou; Kamal Youcef-Toumi; Samir Mekid; Rached Ben-Mansour
Channel-Aware Relay Node Placement in Wireless Sensor Networks for Pipeline Inspection Proceedings Article
In: Proceedings of the American Control Conference (2013), ACC ACC, 2014, ISSN: 1536-1276.
Abstract | Links | BibTeX | Tags: Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Node_Pipeline_Inspection,
title = {Channel-Aware Relay Node Placement in Wireless Sensor Networks for Pipeline Inspection},
author = {Dalei Wu and Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Samir Mekid and Rached Ben-Mansour},
url = {https://www.researchgate.net/publication/261282962_Channel-Aware_Relay_Node_Placement_in_Wireless_Sensor_Networks_for_Pipeline_Inspection},
doi = {10.1109/TWC.2014.2314120},
issn = {1536-1276},
year = {2014},
date = {2014-03-24},
booktitle = {Proceedings of the American Control Conference (2013)},
publisher = {ACC},
organization = {ACC},
abstract = {Wireless sensor networks (WSNs) provide an effective approach for underground pipeline inspection. Such WSNs comprise of sensor nodes (SNs) and relay nodes (RNs) for information sensing and communication. WSNs can perform accurate and realtime inspection, especially in adverse environments. However, transmitting information between underground and aboveground nodes is very challenging due to the mobility and limited energy supply of the SNs as well as complex radio propagation environment. Therefore, proper deployment of a WSN is critical to provide reliable communications and efficient inspection. This paper presents a methodology for deploying aboveground RNs in WSNs. Specifically, it provides an optimum placement of RNs along with energy use so as to allow reliable communications. This method takes into account characteristics of the wireless channels, energy consumption, pipeline coverage requirements, and SN's transmission power levels. The paper provides a path loss model for radio propagation over multiple transmission media and an algorithm for optimization of RN placement and SN's transmission power. Simulation results show the efficacy of the proposed framework.},
keywords = {Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
Wireless sensor networks (WSNs) provide an effective approach for underground pipeline inspection. Such WSNs comprise of sensor nodes (SNs) and relay nodes (RNs) for information sensing and communication. WSNs can perform accurate and realtime inspection, especially in adverse environments. However, transmitting information between underground and aboveground nodes is very challenging due to the mobility and limited energy supply of the SNs as well as complex radio propagation environment. Therefore, proper deployment of a WSN is critical to provide reliable communications and efficient inspection. This paper presents a methodology for deploying aboveground RNs in WSNs. Specifically, it provides an optimum placement of RNs along with energy use so as to allow reliable communications. This method takes into account characteristics of the wireless channels, energy consumption, pipeline coverage requirements, and SN's transmission power levels. The paper provides a path loss model for radio propagation over multiple transmission media and an algorithm for optimization of RN placement and SN's transmission power. Simulation results show the efficacy of the proposed framework.
22.
Apoorva Santhosh; Amro M Farid; Kamal Youcef-Toumi
Optimal network flow for the supply side of the energy-water nexus Proceedings Article
In: 2013 IEEE International Workshop on Inteligent Energy Systems (IWIES), pp. 155-160, IEEE IEEE, 2014, ISBN: 978-1-4799-1135-6.
Abstract | Links | BibTeX | Tags: Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation
@inproceedings{MRL_SG_Water_Plant_Sustainability,
title = {Optimal network flow for the supply side of the energy-water nexus},
author = {Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6698578},
doi = {10.1109/IWIES.2013.6698578},
isbn = {978-1-4799-1135-6},
year = {2014},
date = {2014-01-06},
booktitle = {2013 IEEE International Workshop on Inteligent Energy Systems (IWIES)},
pages = {155-160},
publisher = {IEEE},
organization = {IEEE},
abstract = {Clean energy and water are two essential resources that any society must securely deliver. Their usage raises sustainability issues and questions of nations' resilience in face of global changes and mega-trends such as population growth, global climate change, and economic growth. Recently, attention has been paid to the infrastructure systems for water distribution and power transmission and the coupling between them in what is commonly known as the energy-water nexus. Although numerous policy and regulatory agencies have addressed the subject, rarely is it holistically addressed in terms of an integrated engineering system for its management, planning, and regulation as an interdisciplinary concern. This work specifically addresses the supply side of this integrated engineering system framework. It takes as its subject the real-time optimal flows in power and water networks. Significant background literature is brought to bear on this topic including the emerging co-dispatch of power and water and the more well established optimizations for power and water networks individually. The work presents a mathematical optimization program for the co-dispatch of the two commodities for three types of plants: power generation plants, co-production facilities and water production plants. Production costs are minimized subject to capacity, demand and transmission constraints and demonstrated on an illustrative example of modest size developed from standard test cases. On a practical basis, the program can be applied directly in middle eastern countries where water and power distribution are typically under the responsibility of a single utility. Furthermore, the program provides a systematic method of achieving optimal results and can serve as a basis for set-points upon which individual plants can implement their optimal control. In so doing, it makes a supply-side contribution to the ongoing grand-challenge of improving the sustainability of the energy-water nexus.},
keywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Clean energy and water are two essential resources that any society must securely deliver. Their usage raises sustainability issues and questions of nations' resilience in face of global changes and mega-trends such as population growth, global climate change, and economic growth. Recently, attention has been paid to the infrastructure systems for water distribution and power transmission and the coupling between them in what is commonly known as the energy-water nexus. Although numerous policy and regulatory agencies have addressed the subject, rarely is it holistically addressed in terms of an integrated engineering system for its management, planning, and regulation as an interdisciplinary concern. This work specifically addresses the supply side of this integrated engineering system framework. It takes as its subject the real-time optimal flows in power and water networks. Significant background literature is brought to bear on this topic including the emerging co-dispatch of power and water and the more well established optimizations for power and water networks individually. The work presents a mathematical optimization program for the co-dispatch of the two commodities for three types of plants: power generation plants, co-production facilities and water production plants. Production costs are minimized subject to capacity, demand and transmission constraints and demonstrated on an illustrative example of modest size developed from standard test cases. On a practical basis, the program can be applied directly in middle eastern countries where water and power distribution are typically under the responsibility of a single utility. Furthermore, the program provides a systematic method of achieving optimal results and can serve as a basis for set-points upon which individual plants can implement their optimal control. In so doing, it makes a supply-side contribution to the ongoing grand-challenge of improving the sustainability of the energy-water nexus.
21.
Iman Soltani Bozchalooi; Kamal Youcef-Toumi
Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy Journal Article
In: Ültramicroscopy, vol. 146, pp. 117 - 124, 2014, ISSN: 0304-3991.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation
@article{MRL_AFM_Multi_PI_control,
title = {Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy},
author = {Iman Soltani Bozchalooi and Kamal Youcef-Toumi},
url = {http://www.sciencedirect.com/science/article/pii/S0304399114001491},
doi = {https://doi.org/10.1016/j.ultramic.2014.07.010},
issn = {0304-3991},
year = {2014},
date = {2014-01-01},
journal = {Ültramicroscopy},
volume = {146},
pages = {117 - 124},
abstract = {High speed atomic force microscopy enables observation of dynamic nano-scale processes. However, maintaining a minimal interaction force between the sample and the probe is challenging at high speed specially when using conventional piezo-tubes. While rigid AFM scanners are operational at high speeds with the drawback of reduced tracking range, multi-actuation schemes have shown potential for high-speed and large-range imaging. Here we present a method to seamlessly incorporate additional actuators into conventional AFMs. The equivalent behavior of the resulting multi-actuated setup resembles that of a single high-speed and large-range actuator with maximally flat frequency response. To achieve this, the dynamics of the individual actuators and their couplings are treated through a simple control scheme. Upon the implementation of the proposed technique, commonly used PI controllers are able to meet the requirements of high-speed imaging. This forms an ideal platform for retroactive enhancement of existing AFMs with minimal cost and without compromise on the tracking range. A conventional AFM with tube scanner is retroactively enhanced through the proposed method and shows an order of magnitude improvement in closed loop bandwidth performance while maintaining large range. The effectiveness of the method is demonstrated on various types of samples imaged in contact and tapping modes, in air and in liquid.},
keywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {article}
}
High speed atomic force microscopy enables observation of dynamic nano-scale processes. However, maintaining a minimal interaction force between the sample and the probe is challenging at high speed specially when using conventional piezo-tubes. While rigid AFM scanners are operational at high speeds with the drawback of reduced tracking range, multi-actuation schemes have shown potential for high-speed and large-range imaging. Here we present a method to seamlessly incorporate additional actuators into conventional AFMs. The equivalent behavior of the resulting multi-actuated setup resembles that of a single high-speed and large-range actuator with maximally flat frequency response. To achieve this, the dynamics of the individual actuators and their couplings are treated through a simple control scheme. Upon the implementation of the proposed technique, commonly used PI controllers are able to meet the requirements of high-speed imaging. This forms an ideal platform for retroactive enhancement of existing AFMs with minimal cost and without compromise on the tracking range. A conventional AFM with tube scanner is retroactively enhanced through the proposed method and shows an order of magnitude improvement in closed loop bandwidth performance while maintaining large range. The effectiveness of the method is demonstrated on various types of samples imaged in contact and tapping modes, in air and in liquid.
2013
20.
Apoorva Santhosh; Amro M Farid; Kamal Youcef-Toumi
Design and Evaluation of an In-Pipe Leak Detection Sensing Technique Based on Force Transduction Proceedings Article
In: ASME 2012 International Mechanical Engineering Congress and Exposition, IEEE IEEE, 2013, ISBN: 978-0-7918-4520-2.
Abstract | Links | BibTeX | Tags: Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Force_Transduction_Leaking,
title = {Design and Evaluation of an In-Pipe Leak Detection Sensing Technique Based on Force Transduction},
author = {Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},
url = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2012/45202/489/254570},
doi = {10.1115/IMECE2012-87493},
isbn = {978-0-7918-4520-2},
year = {2013},
date = {2013-10-08},
booktitle = {ASME 2012 International Mechanical Engineering Congress and Exposition},
publisher = {IEEE},
organization = {IEEE},
abstract = {Leakage is the major factor for unaccounted fluid losses in almost every pipe network. In most cases the deleterious effects associated with the occurrence of leaks may present serious economical and health problems and therefore, leaks must be quickly detected, located and repaired. The problem of leakage becomes even more serious when it is concerned with the vital supply of fresh water to the community. Leaking water pipelines can develop large health threats to people mostly because of the infiltration of contaminants into the water network. Such possibilities of environmental health disasters have spurred research into the development of methods for pipeline leakage detection. Most state of the art leak detection techniques have limited applicability, while some of them are not reliable enough and sometimes depend on user experience. Our goal in this work is to design and develop a reliable leak detection sensing system. The proposed technology utilizes the highly localized pressure gradient in the vicinity of a small opening due to leakage in a pressurized pipeline. In this paper we study this local phenomenon in detail and try to understand it with the help of numerical simulations in leaking pipelines (CFD studies). Finally a new system for leak detection is presented. The proposed system is designed in order to reduce the number of sensing elements required for detection. The main concept and detailed design are laid out. A prototype is fabricated and presented as a proof of concept. The prototype is tested in a simple experimental setup with artificial leakages for experimental evaluation. The sensing technique discussed in this work can be deployed in water, oil and gas pipelines without significant changes in the design, since the concepts remain the same in all cases.},
keywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
Leakage is the major factor for unaccounted fluid losses in almost every pipe network. In most cases the deleterious effects associated with the occurrence of leaks may present serious economical and health problems and therefore, leaks must be quickly detected, located and repaired. The problem of leakage becomes even more serious when it is concerned with the vital supply of fresh water to the community. Leaking water pipelines can develop large health threats to people mostly because of the infiltration of contaminants into the water network. Such possibilities of environmental health disasters have spurred research into the development of methods for pipeline leakage detection. Most state of the art leak detection techniques have limited applicability, while some of them are not reliable enough and sometimes depend on user experience. Our goal in this work is to design and develop a reliable leak detection sensing system. The proposed technology utilizes the highly localized pressure gradient in the vicinity of a small opening due to leakage in a pressurized pipeline. In this paper we study this local phenomenon in detail and try to understand it with the help of numerical simulations in leaking pipelines (CFD studies). Finally a new system for leak detection is presented. The proposed system is designed in order to reduce the number of sensing elements required for detection. The main concept and detailed design are laid out. A prototype is fabricated and presented as a proof of concept. The prototype is tested in a simple experimental setup with artificial leakages for experimental evaluation. The sensing technique discussed in this work can be deployed in water, oil and gas pipelines without significant changes in the design, since the concepts remain the same in all cases.
19.
Aramazd Muzhikyan; Amro M Farid; Kamal Youcef-Toumi
Variable energy resource induced power system imbalances: Mitigation by increased system flexibility, spinning reserves and regulation Proceedings Article
In: 2013 1st IEEE Conference on Technologies for Sustainability (SusTech), pp. 15-22, IEEE IEEE, 2013, ISBN: 978-1-4673-4630-6.
Abstract | Links | BibTeX | Tags: Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation
@inproceedings{MRL_SG_Generalized_Reserve_Analysis,
title = {Variable energy resource induced power system imbalances: Mitigation by increased system flexibility, spinning reserves and regulation},
author = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6617292},
doi = {10.1109/SusTech.2013.6617292},
isbn = {978-1-4673-4630-6},
year = {2013},
date = {2013-10-03},
booktitle = {2013 1st IEEE Conference on Technologies for Sustainability (SusTech)},
pages = {15-22},
publisher = {IEEE},
organization = {IEEE},
abstract = {The impact of variable energy resources (VER) on power system reserve and regulation requirements has been a subject of extensive research in recent years. However, the conclusions about the scale of the impact diverge, since most of the results are obtained from specific case studies. This paper proposes a generalized approach to the assessment of power system reserve and regulation requirements. It uses a power system enterprise model that consists of three layers: the physical grid, resource scheduling and balancing operations. Resource scheduling is modeled as a security-constrained unit-commitment (SCUC) problem. The balancing layer consists of three components, namely the regulation service, the real-time market and operator manual actions. The real-time market is implemented as a security-constrained economic dispatch (SCED) problem. The IEEE RTS96 reliability test system is used for the physical layer. Three main resources contributing to the balancing of power system are studied: reserves, regulation and generator ramping rates. Their impacts on power system imbalance mitigation in the presence of VER is studied.},
keywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
The impact of variable energy resources (VER) on power system reserve and regulation requirements has been a subject of extensive research in recent years. However, the conclusions about the scale of the impact diverge, since most of the results are obtained from specific case studies. This paper proposes a generalized approach to the assessment of power system reserve and regulation requirements. It uses a power system enterprise model that consists of three layers: the physical grid, resource scheduling and balancing operations. Resource scheduling is modeled as a security-constrained unit-commitment (SCUC) problem. The balancing layer consists of three components, namely the regulation service, the real-time market and operator manual actions. The real-time market is implemented as a security-constrained economic dispatch (SCED) problem. The IEEE RTS96 reliability test system is used for the physical layer. Three main resources contributing to the balancing of power system are studied: reserves, regulation and generator ramping rates. Their impacts on power system imbalance mitigation in the presence of VER is studied.
18.
Ajay Deshpande; Sanjay E Sarma; Kamal Youcef-Toumi; Samir Mekid
Optimal coverage of an infrastructure network using sensors with distance-decaying sensing quality Journal Article
In: Automatica, vol. 49, no. 11, pp. 3351-3358, 2013, ISSN: 0005-1098.
Abstract | Links | BibTeX | Tags: Experimentation, Fabrication, Instrumentation, Mechatronic Design, Modeling; sizing and control of smart grids, Physical System Modeling
@article{MRL_AFM_Distance_Decaying_Sensors,
title = {Optimal coverage of an infrastructure network using sensors with distance-decaying sensing quality},
author = {Ajay Deshpande and Sanjay E Sarma and Kamal Youcef-Toumi and Samir Mekid},
url = {https://www.sciencedirect.com/science/article/pii/S0005109813003774},
doi = {https://doi.org/10.1016/j.automatica.2013.07.029},
issn = {0005-1098},
year = {2013},
date = {2013-08-27},
journal = {Automatica},
volume = {49},
number = {11},
pages = {3351-3358},
publisher = {elsevier},
abstract = {Motivated by recent applications of wireless sensor networks in monitoring infrastructure networks, we address the problem of optimal coverage of infrastructure networks using sensors whose sensing performance decays with distance. We show that this problem can be formulated as a continuous p-median problem on networks. The literature has addressed the discrete p-median problem on networks and in continuum domains, and the continuous p-median problem in continuum domains extensively. However, in-depth analysis of the continuous p-median problem on networks has been lacking. With the sensing performance model that decays with distance, each sensor covers a region equivalent to its Voronoi partition on the network in terms of the shortest path distance metric. Using Voronoi partitions, we define a directional partial derivative of the coverage metric with respect to a sensor’s location. We then propose a gradient descent algorithm to obtain a locally optimal solution with guaranteed convergence. The quality of an optimal solution depends on the choice of the initial configuration of sensors. We obtain an initial configuration using two approaches: by solving the discrete p-median problem on a lumped network and by random sampling. We consider two methods of random sampling: uniform sampling and D2-sampling. The first approach with the initial solution of the discrete p-median problem leads to the best coverage performance for large networks, but at the cost of high running time. We also observe that the gradient descent on the initial solution with the D2-sampling method yields a solution that is within at most 7% of the previous solution and with much shorter running time.},
keywords = {Experimentation, Fabrication, Instrumentation, Mechatronic Design, Modeling; sizing and control of smart grids, Physical System Modeling},
pubstate = {published},
tppubtype = {article}
}
Motivated by recent applications of wireless sensor networks in monitoring infrastructure networks, we address the problem of optimal coverage of infrastructure networks using sensors whose sensing performance decays with distance. We show that this problem can be formulated as a continuous p-median problem on networks. The literature has addressed the discrete p-median problem on networks and in continuum domains, and the continuous p-median problem in continuum domains extensively. However, in-depth analysis of the continuous p-median problem on networks has been lacking. With the sensing performance model that decays with distance, each sensor covers a region equivalent to its Voronoi partition on the network in terms of the shortest path distance metric. Using Voronoi partitions, we define a directional partial derivative of the coverage metric with respect to a sensor’s location. We then propose a gradient descent algorithm to obtain a locally optimal solution with guaranteed convergence. The quality of an optimal solution depends on the choice of the initial configuration of sensors. We obtain an initial configuration using two approaches: by solving the discrete p-median problem on a lumped network and by random sampling. We consider two methods of random sampling: uniform sampling and D2-sampling. The first approach with the initial solution of the discrete p-median problem leads to the best coverage performance for large networks, but at the cost of high running time. We also observe that the gradient descent on the initial solution with the D2-sampling method yields a solution that is within at most 7% of the previous solution and with much shorter running time.
17.
Hadi Nia; Iman Soltani; Yang Li; Lin Han; Han-Hwa Hung; Eliot Frank; Kamal Youcef-Toumi; Christine Ortiz; Alan Grodzinsky
High-Bandwidth AFM-Based Rheology Reveals that Cartilage is Most Sensitive to High Loading Rates at Early Stages of Impairment Journal Article
In: Biophysical journal, vol. 104, pp. 1529-37, 2013, ISSN: 00063496.
Abstract | Links | BibTeX | Tags: Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization
@article{MRL_AFM_Cartilage_Early_Impairment,
title = {High-Bandwidth AFM-Based Rheology Reveals that Cartilage is Most Sensitive to High Loading Rates at Early Stages of Impairment},
author = {Hadi Nia and Iman Soltani and Yang Li and Lin Han and Han-Hwa Hung and Eliot Frank and Kamal Youcef-Toumi and Christine Ortiz and Alan Grodzinsky},
url = {https://dspace.mit.edu/handle/1721.1/92000},
doi = {10.1016/j.bpj.2013.02.048},
issn = {00063496},
year = {2013},
date = {2013-04-02},
journal = {Biophysical journal},
volume = {104},
pages = {1529-37},
publisher = {Elsevier B.V},
abstract = {Utilizing a newly developed atomic-force-microscopy-based wide-frequency rheology system, we measured the dynamic nanomechanical behavior of normal and glycosaminoglycan (GAG)-depleted cartilage, the latter representing matrix degradation that occurs at the earliest stages of osteoarthritis. We observed unique variations in the frequency-dependent stiffness and hydraulic permeability of cartilage in the 1 Hz-to-10 kHz range, a frequency range that is relevant to joint motions from normal ambulation to high-frequency impact loading. Measurement in this frequency range is well beyond the capabilities of typical commercial atomic force microscopes. We showed that the dynamic modulus of cartilage undergoes a dramatic alteration after GAG loss, even with the collagen network still intact: whereas the magnitude of the dynamic modulus decreased two- to threefold at higher frequencies, the peak frequency of the phase angle of the modulus (representing fluid-solid frictional dissipation) increased 15-fold from 55 Hz in normal cartilage to 800 Hz after GAG depletion. These results, based on a fibril-reinforced poroelastic finite-element model, demonstrated that GAG loss caused a dramatic increase in cartilage hydraulic permeability (up to 25-fold), suggesting that early osteoarthritic cartilage is more vulnerable to higher loading rates than to the conventionally studied “loading magnitude”. Thus, over the wide frequency range of joint motion during daily activities, hydraulic permeability appears the most sensitive marker of early tissue degradation.},
keywords = {Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},
pubstate = {published},
tppubtype = {article}
}
Utilizing a newly developed atomic-force-microscopy-based wide-frequency rheology system, we measured the dynamic nanomechanical behavior of normal and glycosaminoglycan (GAG)-depleted cartilage, the latter representing matrix degradation that occurs at the earliest stages of osteoarthritis. We observed unique variations in the frequency-dependent stiffness and hydraulic permeability of cartilage in the 1 Hz-to-10 kHz range, a frequency range that is relevant to joint motions from normal ambulation to high-frequency impact loading. Measurement in this frequency range is well beyond the capabilities of typical commercial atomic force microscopes. We showed that the dynamic modulus of cartilage undergoes a dramatic alteration after GAG loss, even with the collagen network still intact: whereas the magnitude of the dynamic modulus decreased two- to threefold at higher frequencies, the peak frequency of the phase angle of the modulus (representing fluid-solid frictional dissipation) increased 15-fold from 55 Hz in normal cartilage to 800 Hz after GAG depletion. These results, based on a fibril-reinforced poroelastic finite-element model, demonstrated that GAG loss caused a dramatic increase in cartilage hydraulic permeability (up to 25-fold), suggesting that early osteoarthritic cartilage is more vulnerable to higher loading rates than to the conventionally studied “loading magnitude”. Thus, over the wide frequency range of joint motion during daily activities, hydraulic permeability appears the most sensitive marker of early tissue degradation.
16.
Changrak Choi; Kamal Youcef-Toumi
Robot design for high flow liquid pipe networks Proceedings Article
In: 2013 IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS), pp. 246-251, IEEE IEEE, 2013.
Abstract | Links | BibTeX | Tags: Experimentation, Fabrication, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation
@inproceedings{MRL_WDP_High_Flow_Pipe_Robot,
title = {Robot design for high flow liquid pipe networks},
author = {Changrak Choi and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6696360&isnumber=6696319},
doi = {10.1109/IROS.2013.6696360},
year = {2013},
date = {2013-01-01},
booktitle = {2013 IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS)},
pages = {246-251},
publisher = {IEEE},
organization = {IEEE},
abstract = {In-pipe robots are important for inspection of pipe network that form vital infrastructure of modern society. Nevertheless, most in-pipe robots developed so far are targeted at working inside gas pipes and not suitable for liquid pipes. This paper presents a new approach for designing in-pipe robot to work inside a liquid environment in the presence of high drag forces. Three major subsystems - propulsion, braking, and turning - are described in detail with new concepts and mechanisms that differ from conventional in-pipe robots. Prototypes of each subsystem are designed, built and tested for validation. Resulting is a robot design that navigates efficiently inside liquid pipe network and can be used for practical inspection purposes.},
keywords = {Experimentation, Fabrication, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
In-pipe robots are important for inspection of pipe network that form vital infrastructure of modern society. Nevertheless, most in-pipe robots developed so far are targeted at working inside gas pipes and not suitable for liquid pipes. This paper presents a new approach for designing in-pipe robot to work inside a liquid environment in the presence of high drag forces. Three major subsystems - propulsion, braking, and turning - are described in detail with new concepts and mechanisms that differ from conventional in-pipe robots. Prototypes of each subsystem are designed, built and tested for validation. Resulting is a robot design that navigates efficiently inside liquid pipe network and can be used for practical inspection purposes.
2012
15.
Brett Shapiro; Nergis Mavalvala; Kamal Youcef-Toumi
Modal damping of a quadruple pendulum for advanced gravitational wave detectors Proceedings Article
In: 2012 American Control Conference (ACC), pp. 1017-1022, ACC ACC, 2012, ISBN: 978-1-4577-1096-4.
Abstract | Links | BibTeX | Tags: Control Theory, Data-driven learning for intelligent machine maintanence, Experimentation, Fabrication, intelligent systems, Physical System Modeling, Simulation
@inproceedings{MRL_DDL_Gravity_Wave_Detectors,
title = {Modal damping of a quadruple pendulum for advanced gravitational wave detectors},
author = {Brett Shapiro and Nergis Mavalvala and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6315185},
doi = {10.1109/ACC.2012.6315185},
isbn = {978-1-4577-1096-4},
year = {2012},
date = {2012-10-02},
booktitle = {2012 American Control Conference (ACC)},
pages = {1017-1022},
publisher = {ACC},
organization = {ACC},
abstract = {The Laser Interferometer Gravitational-Wave Observatory (LIGO) has begun a major set of upgrades to reach a sensitivity better than 10-19 m/√(Hz) in the 10Hz to 10 kHz frequency band. This advance is expected to bring gravitational wave observations of relativistic astrophysical events such as black hole mergers and supernovae into the realm of regular astronomy. These upgrades require complex vibration isolation systems to better decouple the test masses from ground disturbances. These high performance systems require correspondingly more complex and aggressive active control loops to meet the increased demand in instrument sensitivity. This paper applies a modal damping technique with state estimation to optimize the trade-off between disturbance rejection and sensor noise amplification. The state estimator design applies a customized cost function around the Linear Quadratic Regulator (LQR) algorithm.},
keywords = {Control Theory, Data-driven learning for intelligent machine maintanence, Experimentation, Fabrication, intelligent systems, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
The Laser Interferometer Gravitational-Wave Observatory (LIGO) has begun a major set of upgrades to reach a sensitivity better than 10-19 m/√(Hz) in the 10Hz to 10 kHz frequency band. This advance is expected to bring gravitational wave observations of relativistic astrophysical events such as black hole mergers and supernovae into the realm of regular astronomy. These upgrades require complex vibration isolation systems to better decouple the test masses from ground disturbances. These high performance systems require correspondingly more complex and aggressive active control loops to meet the increased demand in instrument sensitivity. This paper applies a modal damping technique with state estimation to optimize the trade-off between disturbance rejection and sensor noise amplification. The state estimator design applies a customized cost function around the Linear Quadratic Regulator (LQR) algorithm.
14.
Soltani I Bozchalooi; Kamal Youcef-Toumi; D J Burns; Georg E Fantner
A vibration suppression approach to high-speed atomic force microscopy Proceedings Article
In: 2012 American Control Conference (ACC), pp. 3797-3802, ACC ACC, 2012, ISBN: 978-1-4577-1096-4.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization
@inproceedings{MRL_AFM_Vibration_Suppression,
title = {A vibration suppression approach to high-speed atomic force microscopy},
author = {Soltani I Bozchalooi and Kamal Youcef-Toumi and D J Burns and Georg E Fantner},
url = {https://ieeexplore.ieee.org/document/6315281},
doi = {10.1109/ACC.2012.6315281},
isbn = {978-1-4577-1096-4},
year = {2012},
date = {2012-10-02},
booktitle = {2012 American Control Conference (ACC)},
pages = {3797-3802},
publisher = {ACC},
organization = {ACC},
abstract = {The possibility of many new applications and novel scientific observations can be provided by efficient and reliable high-speed atomic force microscopy techniques. However, the reliability of the AFM images decreases significantly as the imaging speed is increased to levels required for the targeted real-time observation of nano-scale phenomenon. One of the main reasons behind this limitation is the excitation of the AFM dynamics at high scan speeds. In this research we propose a piezo based, feedforward controlled, counter actuation mechanism to compensate for the excited out-of-plane scanner dynamics. For this purpose the AFM controller output is properly filtered via a linear compensator and then applied to a counter actuating piezo. The information required for compensator design is extracted from the cantilever deflection signal hence, eliminating the need for any additional sensors. The proposed approach is implemented and experimentally evaluated on the dynamic response of a custom made AFM. It is further assessed by comparing the imaging performance of the AFM with and without the application of the proposed technique and in comparison with the conventional counterbalancing methodology. The experimental results substantiate the effectiveness of the method in significantly improving the imaging performance of AFM at high scan speeds.},
keywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
The possibility of many new applications and novel scientific observations can be provided by efficient and reliable high-speed atomic force microscopy techniques. However, the reliability of the AFM images decreases significantly as the imaging speed is increased to levels required for the targeted real-time observation of nano-scale phenomenon. One of the main reasons behind this limitation is the excitation of the AFM dynamics at high scan speeds. In this research we propose a piezo based, feedforward controlled, counter actuation mechanism to compensate for the excited out-of-plane scanner dynamics. For this purpose the AFM controller output is properly filtered via a linear compensator and then applied to a counter actuating piezo. The information required for compensator design is extracted from the cantilever deflection signal hence, eliminating the need for any additional sensors. The proposed approach is implemented and experimentally evaluated on the dynamic response of a custom made AFM. It is further assessed by comparing the imaging performance of the AFM with and without the application of the proposed technique and in comparison with the conventional counterbalancing methodology. The experimental results substantiate the effectiveness of the method in significantly improving the imaging performance of AFM at high scan speeds.
13.
Atia E Khalifa; Rached Ben-Mansour; Kamal Youcef-Toumi; Changrak Choi
Characterization of In-Pipe Acoustic Wave for Water Leak Detection Proceedings Article
In: ASME 2011 International Mechanical Engineering Congress and Exposition, pp. 995-1000, ACC ACC, 2012, ISBN: 978-0-7918-5494-5.
Abstract | Links | BibTeX | Tags: Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Acoustic_Wave_Pipe_Leakage,
title = {Characterization of In-Pipe Acoustic Wave for Water Leak Detection},
author = {Atia E Khalifa and Rached Ben-Mansour and Kamal Youcef-Toumi and Changrak Choi},
url = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2011/54945/995/355499},
doi = {10.1115/IMECE2011-62333},
isbn = {978-0-7918-5494-5},
year = {2012},
date = {2012-08-01},
booktitle = {ASME 2011 International Mechanical Engineering Congress and Exposition},
pages = {995-1000},
publisher = {ACC},
organization = {ACC},
abstract = {This paper presents experimental observations on the characteristics of the acoustic signal propagation and attenuation inside water-filled pipes. An acoustic source (exciter) is mounted on the internal pipe wall, at a fixed location, and produces a tonal sound to simulate a leak noise with controlled frequency and amplitude, under different flow conditions. A hydrophone is aligned with the pipe centerline and can be re-positioned to capture the acoustic signal at different locations. Results showed that the wave attenuation depends on the source frequency and the line pressure. High frequency signals get attenuated more with increasing distance from the source. The optimum location to place the hydrophone for capturing the acoustic signal is not at the vicinity of source location. The optimum location also depends on the frequency and line pressure. It was also observed that the attenuation of the acoustic waves is higher in more flexible pipes like PVC ones.},
keywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
This paper presents experimental observations on the characteristics of the acoustic signal propagation and attenuation inside water-filled pipes. An acoustic source (exciter) is mounted on the internal pipe wall, at a fixed location, and produces a tonal sound to simulate a leak noise with controlled frequency and amplitude, under different flow conditions. A hydrophone is aligned with the pipe centerline and can be re-positioned to capture the acoustic signal at different locations. Results showed that the wave attenuation depends on the source frequency and the line pressure. High frequency signals get attenuated more with increasing distance from the source. The optimum location to place the hydrophone for capturing the acoustic signal is not at the vicinity of source location. The optimum location also depends on the frequency and line pressure. It was also observed that the attenuation of the acoustic waves is higher in more flexible pipes like PVC ones.
12.
Rached Ben-Mansour; Kabir Suara; Kamal Youcef-Toumi
Determination of important flow characteristics for leak detection in water pipelines-networks Journal Article
In: Computational Thermal Sciences, vol. 5, pp. 143-151, 2012, ISSN: 143-151.
Abstract | Links | BibTeX | Tags: Control Theory, Inspection, Physical System Modeling, repair & intelligence for water distribution pipes, Robotics & Automation, Simulation
@article{MRL_AFM_Flow_Leak_Detection,
title = {Determination of important flow characteristics for leak detection in water pipelines-networks},
author = {Rached Ben-Mansour and Kabir Suara and Kamal Youcef-Toumi},
url = {http://www.dl.begellhouse.com/journals/648192910890cd0e,1c6ade0932d1248e,18dcce9156c09e65.html},
doi = {10.1615/ComputThermalScien.2013006301},
issn = {143-151},
year = {2012},
date = {2012-07-16},
journal = {Computational Thermal Sciences},
volume = {5},
pages = {143-151},
publisher = {begellhouse},
abstract = {The accuracy of a leak detection method depends greatly on the flow and leak parameters in a given pipeline. This paper gives some insight into the flow characteristics around simulated small leaks. The present computational fluid dynamics (CFD) studies have indicated clear distinctive features in fluid pressure and fluid acceleration that can be used for the early detection of small leaks (<1 of the total flow) in water distribution pipelines. The present CFD simulations based on a steady state standard к − ε turbulent flow model are carried out for different pressure lines in 4 in. (100 m) ID pipe. Based on these simulations, it has been found out that the pressure gradients in the vicinity of the leaks are quite large, hence a leak detection method based on pressure gradient measurement is proposed. In addition, these simulations have shown remarkable gradients in the axial flow acceleration along the centerline of the pipe. These discovered flow features can offer another leak detection method based on the use of accelerometers.},
keywords = {Control Theory, Inspection, Physical System Modeling, repair & intelligence for water distribution pipes, Robotics & Automation, Simulation},
pubstate = {published},
tppubtype = {article}
}
The accuracy of a leak detection method depends greatly on the flow and leak parameters in a given pipeline. This paper gives some insight into the flow characteristics around simulated small leaks. The present computational fluid dynamics (CFD) studies have indicated clear distinctive features in fluid pressure and fluid acceleration that can be used for the early detection of small leaks (<1 of the total flow) in water distribution pipelines. The present CFD simulations based on a steady state standard к − ε turbulent flow model are carried out for different pressure lines in 4 in. (100 m) ID pipe. Based on these simulations, it has been found out that the pressure gradients in the vicinity of the leaks are quite large, hence a leak detection method based on pressure gradient measurement is proposed. In addition, these simulations have shown remarkable gradients in the axial flow acceleration along the centerline of the pipe. These discovered flow features can offer another leak detection method based on the use of accelerometers.
11.
C Choi; D Chatzigeorgiou; R Ben-Mansour; K Youcef-Toumi
Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications Proceedings Article
In: 2012 IEEE International Conference on Robotics and Automation, pp. 4118-4123, IEEE IEEE, 2012, ISBN: 978-1-4673-1405-3.
Abstract | Links | BibTeX | Tags: Experimentation, Fabrication, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics and Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Friction_Minimization,
title = {Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications},
author = {C Choi and D Chatzigeorgiou and R Ben-Mansour and K Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6225380},
doi = {10.1109/ICRA.2012.6225380},
isbn = {978-1-4673-1405-3},
year = {2012},
date = {2012-06-28},
booktitle = {2012 IEEE International Conference on Robotics and Automation},
pages = {4118-4123},
publisher = {IEEE},
organization = {IEEE},
abstract = {In-pipe wheeled robots require friction on the wheels to maintain traction. Ability to vary this friction is highly desirable but conventionally used linkage mechanism is not suitable for it. This paper presents a novel mechanism generating adjustable friction with minimal energy consumption for in-pipe robots. The mechanism uses permanent magnets to achieve the objective. An appropriate model for the system is also presented and discussed. The paper identifies the important design parameters, and more importantly establishes the relation between the design parameters and the system's performance. In addition, a prototype of the mechanism was designed, fabricated and tested for validation.},
keywords = {Experimentation, Fabrication, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics and Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
In-pipe wheeled robots require friction on the wheels to maintain traction. Ability to vary this friction is highly desirable but conventionally used linkage mechanism is not suitable for it. This paper presents a novel mechanism generating adjustable friction with minimal energy consumption for in-pipe robots. The mechanism uses permanent magnets to achieve the objective. An appropriate model for the system is also presented and discussed. The paper identifies the important design parameters, and more importantly establishes the relation between the design parameters and the system's performance. In addition, a prototype of the mechanism was designed, fabricated and tested for validation.
10.
Dimitris M Chatzigeorgiou; Atia E Khalifa; Kamal Youcef-Toumi; Rached Ben-Mansour
An In-Pipe Leak Detection Sensor: Sensing Capabilities and Evaluation Proceedings Article
In: ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 481-489, ACC ACC, 2012, ISBN: 978-0-7918-5480-8.
Abstract | Links | BibTeX | Tags: Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Leak_Capability_Sensor,
title = {An In-Pipe Leak Detection Sensor: Sensing Capabilities and Evaluation},
author = {Dimitris M Chatzigeorgiou and Atia E Khalifa and Kamal Youcef-Toumi and Rached Ben-Mansour},
url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54808/481/351961},
doi = {10.1115/DETC2011-48411},
isbn = {978-0-7918-5480-8},
year = {2012},
date = {2012-06-12},
booktitle = {ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
pages = {481-489},
publisher = {ACC},
organization = {ACC},
abstract = {In most cases the deleterious effects associated with the occurrence of leak may present serious problems and therefore leaks must be quickly detected, located and repaired. The problem of leakage becomes even more serious when it is concerned with the vital supply of fresh water to the community. In addition to waste of resources, contaminants may infiltrate into the water supply. The possibility of environmental health disasters due to delay in detection of water pipeline leaks has spurred research into the development of methods for pipeline leak and contamination detection. Leaks in water pipes create acoustic emissions, which can be sensed to identify and localize leaks. Leak noise correlators and listening devices have been reported in the literature as successful approaches to leak detection but they have practical limitations in terms of cost, sensitivity, reliability and scalability. To overcome those limitations the development of an in-pipe traveling leak detection system is proposed. The development of such a system requires a clear understanding of acoustic signals generated from leaks and the study of the variation of those signals with different pipe loading conditions, leak sizes and surrounding media. This paper discusses those signals and evaluates the merits of an in-pipe-floating sensor.},
keywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
In most cases the deleterious effects associated with the occurrence of leak may present serious problems and therefore leaks must be quickly detected, located and repaired. The problem of leakage becomes even more serious when it is concerned with the vital supply of fresh water to the community. In addition to waste of resources, contaminants may infiltrate into the water supply. The possibility of environmental health disasters due to delay in detection of water pipeline leaks has spurred research into the development of methods for pipeline leak and contamination detection. Leaks in water pipes create acoustic emissions, which can be sensed to identify and localize leaks. Leak noise correlators and listening devices have been reported in the literature as successful approaches to leak detection but they have practical limitations in terms of cost, sensitivity, reliability and scalability. To overcome those limitations the development of an in-pipe traveling leak detection system is proposed. The development of such a system requires a clear understanding of acoustic signals generated from leaks and the study of the variation of those signals with different pipe loading conditions, leak sizes and surrounding media. This paper discusses those signals and evaluates the merits of an in-pipe-floating sensor.
9.
Dimitris M Chatzigeorgiou; Kamal Youcef-Toumi; Atia E Khalifa; Rached Ben-Mansour
Analysis and Design of an In-Pipe System for Water Leak Detection Proceedings Article
In: ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 1007-1016, ASME ASME, 2012, ISBN: 978-0-7918-5482-2.
Abstract | Links | BibTeX | Tags: Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization
@inproceedings{MRL_WDP_Design_Water_Leak_Detection,
title = {Analysis and Design of an In-Pipe System for Water Leak Detection},
author = {Dimitris M Chatzigeorgiou and Kamal Youcef-Toumi and Atia E Khalifa and Rached Ben-Mansour},
url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54822/1007/353866},
doi = {10.1115/DETC2011-48395},
isbn = {978-0-7918-5482-2},
year = {2012},
date = {2012-06-12},
booktitle = {ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
pages = {1007-1016},
publisher = {ASME},
organization = {ASME},
abstract = {In most cases the deleterious effects associated with the occurrence of leaks may present serious problems and therefore, leaks must be quickly detected, located and repaired. The problem of leakage becomes even more serious when it is concerned with the vital supply of fresh water to the community. In addition to waste of resources, contaminants may infiltrate into the water supply. The possibility of environmental health disasters due to delay in detection of water pipeline leaks has spurred research into the development of methods for pipeline leak and contamination detection. Leaking in water networks has been a very significant problem worldwide, especially in developing countries, where water is sparse. Many different techniques have been developed to detect leaks, either from the inside or from the outside of the pipe; each one of them with their advantages, complexities but also limitations. To overcome those limitations we focus our work on the development of an in-pipe-floating sensor. The present paper discusses the design considerations of a novel autonomous system for in-pipe water leak detection. The system is carefully designed to be minimally invasive to the flow within the pipe and thus not to affect the delicate leak signal. One of its characteristics is the controllable motion inside the pipe. The system is capable of pinpointing leaks in pipes while operating in real network conditions, i.e. pressurized pipes and high water flow rates, which are major challenges.},
keywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics & Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
In most cases the deleterious effects associated with the occurrence of leaks may present serious problems and therefore, leaks must be quickly detected, located and repaired. The problem of leakage becomes even more serious when it is concerned with the vital supply of fresh water to the community. In addition to waste of resources, contaminants may infiltrate into the water supply. The possibility of environmental health disasters due to delay in detection of water pipeline leaks has spurred research into the development of methods for pipeline leak and contamination detection. Leaking in water networks has been a very significant problem worldwide, especially in developing countries, where water is sparse. Many different techniques have been developed to detect leaks, either from the inside or from the outside of the pipe; each one of them with their advantages, complexities but also limitations. To overcome those limitations we focus our work on the development of an in-pipe-floating sensor. The present paper discusses the design considerations of a novel autonomous system for in-pipe water leak detection. The system is carefully designed to be minimally invasive to the flow within the pipe and thus not to affect the delicate leak signal. One of its characteristics is the controllable motion inside the pipe. The system is capable of pinpointing leaks in pipes while operating in real network conditions, i.e. pressurized pipes and high water flow rates, which are major challenges.