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Mechatronics Research Lab Publications
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2021
15.
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.
2019
14.
Chen Yang; Fangzhou Xia; Yi Wang; Stephen Truncale; Kamal Youcef-Toumi
Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure Proceedings Article
In: 2019 American Control Conference (ACC), pp. 3782–3788, IEEE IEEE, 2019, ISBN: 978-1-5386-7926-5.
Abstract | Links | BibTeX | Tags: Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Simulation
@inproceedings{MRL_AFM_Stacked_Nanopositioner,
title = {Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure},
author = {Chen Yang and Fangzhou Xia and Yi Wang and Stephen Truncale and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/8815299},
doi = {10.23919/ACC.2019.8815299},
isbn = {978-1-5386-7926-5},
year = {2019},
date = {2019-08-29},
booktitle = {2019 American Control Conference (ACC)},
pages = {3782--3788},
publisher = {IEEE},
organization = {IEEE},
abstract = {A novel multi-actuated nanopositioning stage with stacked structure has been developed. The aim is to achieve both high bandwidth and large motion range. Symmetric flexures are designed to obtain equal stiffness along any direction in the lateral plane. With this design, the lateral stiffness and corresponding bending mode resonance frequency can be optimized. Both analytical model and finite element analysis are employed to predict the dominant resonance frequency. Experimental results indicate that the dominant resonance of nanopositioner is at 28.2 kHz, with a motion range of 16.5J.1m. A disturbance-observer-based controller is implemented to suppress the hysteretic nonlinearity. The new design and control system enable high-bandwidth and high-precision nanopositioning up to 2 kHz.},
keywords = {Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
A novel multi-actuated nanopositioning stage with stacked structure has been developed. The aim is to achieve both high bandwidth and large motion range. Symmetric flexures are designed to obtain equal stiffness along any direction in the lateral plane. With this design, the lateral stiffness and corresponding bending mode resonance frequency can be optimized. Both analytical model and finite element analysis are employed to predict the dominant resonance frequency. Experimental results indicate that the dominant resonance of nanopositioner is at 28.2 kHz, with a motion range of 16.5J.1m. A disturbance-observer-based controller is implemented to suppress the hysteretic nonlinearity. The new design and control system enable high-bandwidth and high-precision nanopositioning up to 2 kHz.
13.
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.
12.
C Yang; F Xia; Y Wang; S Truncale; K Youcef-Toumi
Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure Proceedings Article
In: 2019 American Control Conference (ACC), pp. 3782-3788, IEEE, 2019, ISSN: 2378-5861.
Abstract | Links | BibTeX | Tags: Control Theory, Direct-drive robots for laser cutting manufacturing, Fabrication, Instrumentation, Mechatronic Design, Robotics & Automation
@inproceedings{MRL_AFM_Nanopositioning_Stage_Stacked,
title = {Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure},
author = {C Yang and F Xia and Y Wang and S Truncale and K Youcef-Toumi},
doi = {10.23919/ACC.2019.8815299},
issn = {2378-5861},
year = {2019},
date = {2019-07-12},
booktitle = {2019 American Control Conference (ACC)},
journal = {xplore},
pages = {3782-3788},
publisher = {IEEE},
abstract = {A novel multi-actuated nanopositioning stage with stacked structure has been developed. The aim is to achieve both high bandwidth and large motion range. Symmetric flexures are designed to obtain equal stiffness along any direction in the lateral plane. With this design, the lateral stiffness and corresponding bending mode resonance frequency can be optimized. Both analytical model and finite element analysis are employed to predict the dominant resonance frequency. Experimental results indicate that the dominant resonance of nanopositioner is at 28.2 kHz, with a motion range of 16.5J.1m. A disturbance-observer-based controller is implemented to suppress the hysteretic nonlinearity. The new design and control system enable high-bandwidth and high-precision nanopositioning up to 2 kHz.},
keywords = {Control Theory, Direct-drive robots for laser cutting manufacturing, Fabrication, Instrumentation, Mechatronic Design, Robotics & Automation},
pubstate = {published},
tppubtype = {inproceedings}
}
A novel multi-actuated nanopositioning stage with stacked structure has been developed. The aim is to achieve both high bandwidth and large motion range. Symmetric flexures are designed to obtain equal stiffness along any direction in the lateral plane. With this design, the lateral stiffness and corresponding bending mode resonance frequency can be optimized. Both analytical model and finite element analysis are employed to predict the dominant resonance frequency. Experimental results indicate that the dominant resonance of nanopositioner is at 28.2 kHz, with a motion range of 16.5J.1m. A disturbance-observer-based controller is implemented to suppress the hysteretic nonlinearity. The new design and control system enable high-bandwidth and high-precision nanopositioning up to 2 kHz.
11.
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.
2018
10.
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
9.
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
8.
Iman Soltani Bozchalooi; Andrew Careaga Houck; Jwaher M. AlGhamdi; Kamal Youcef-Toumi
Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging Journal Article
In: vol. 160, pp. 213 - 224, 2016, ISSN: 0304-3991.
Abstract | Links | BibTeX | Tags: Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Simulation, Visualization
@article{MRL_AFM_LRHS_imaging,
title = {Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging},
author = {Iman Soltani Bozchalooi and Andrew Careaga Houck and Jwaher M. AlGhamdi and Kamal Youcef-Toumi},
url = {http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c},
doi = {https://doi.org/10.1016/j.ultramic.2015.10.016},
issn = {0304-3991},
year = {2016},
date = {2016-01-01},
volume = {160},
pages = {213 - 224},
abstract = {This paper presents the design and control of a high-speed and large-range atomic force microscopy (AFM). A multi-actuation scheme is proposed where several nano-positioners cooperate to achieve the range and speed requirements. A simple data-based control design methodology is presented to effectively operate the AFM scanner components. The proposed controllers compensate for the coupled dynamics and divide the positioning responsibilities between the scanner components. As a result, the multi-actuated scanner behavior is equivalent to that of a single X–Y–Z positioner with large range and high speed. The scanner of the designed AFM is composed of five nano-positioners, features 6μm out-of-plane and 120μm lateral ranges and is capable of high-speed operation. The presented AFM has a modular design with laser spot size of 3.5μm suitable for small cantilever, an optical view of the sample and probe, a conveniently large waterproof sample stage and a 20MHz data throughput for high resolution image acquisition at high imaging speeds. This AFM is used to visualize etching of calcite in a solution of sulfuric acid. Layer-by-layer dissolution and pit formation along the crystalline lines in a low pH environment is observed in real time.},
keywords = {Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Simulation, Visualization},
pubstate = {published},
tppubtype = {article}
}
This paper presents the design and control of a high-speed and large-range atomic force microscopy (AFM). A multi-actuation scheme is proposed where several nano-positioners cooperate to achieve the range and speed requirements. A simple data-based control design methodology is presented to effectively operate the AFM scanner components. The proposed controllers compensate for the coupled dynamics and divide the positioning responsibilities between the scanner components. As a result, the multi-actuated scanner behavior is equivalent to that of a single X–Y–Z positioner with large range and high speed. The scanner of the designed AFM is composed of five nano-positioners, features 6μm out-of-plane and 120μm lateral ranges and is capable of high-speed operation. The presented AFM has a modular design with laser spot size of 3.5μm suitable for small cantilever, an optical view of the sample and probe, a conveniently large waterproof sample stage and a 20MHz data throughput for high resolution image acquisition at high imaging speeds. This AFM is used to visualize etching of calcite in a solution of sulfuric acid. Layer-by-layer dissolution and pit formation along the crystalline lines in a low pH environment is observed in real time.
2015
7.
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.
2014
6.
David Donghyun Kim; You Wu; Antoine Noel; Kamal Youcef-Toumi
RIM Propeller for Micro Autonomous Underwater Vehicles Proceedings Article
In: ASME 2014 Dynamic Systems and Control Conference, ASME ASME, 2014, ISBN: 978-0-7918-4620-9.
Abstract | Links | BibTeX | Tags: Computer vision for autonomous vehicle sensing, Control Theory, Experimentation, Fabrication, intelligent systems, Mechatronic Design, Simulation
@inproceedings{MRL_AVS_AUV_RIM_Control,
title = {RIM Propeller for Micro Autonomous Underwater Vehicles},
author = {David Donghyun Kim and You Wu and Antoine Noel and Kamal Youcef-Toumi},
url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T44A005/229722},
doi = {10.1115/DSCC2014-6282},
isbn = {978-0-7918-4620-9},
year = {2014},
date = {2014-12-19},
booktitle = {ASME 2014 Dynamic Systems and Control Conference},
publisher = {ASME},
organization = {ASME},
abstract = {Micro autonomous underwater vehicles (AUVs) need small-scale, powerful and safe propulsion systems especially when they are performing missions in pipes and other confined environments. However, the most conventional propulsion systems do not satisfy all three requirements: small, powerful and safe. A micro propulsion system meeting those requirements are developed based on the RIM propeller concept. It is compact and powerful; the complete motor-propeller assembly is 33mm in diameter, 12mm in depth and 16g in weight, and it is capable of producing 0.4N thrust in static water given a 7.1W power input. The paper presents the design, manufacturing and integration of the micro RIM propeller in an AUV.},
keywords = {Computer vision for autonomous vehicle sensing, Control Theory, Experimentation, Fabrication, intelligent systems, Mechatronic Design, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}
Micro autonomous underwater vehicles (AUVs) need small-scale, powerful and safe propulsion systems especially when they are performing missions in pipes and other confined environments. However, the most conventional propulsion systems do not satisfy all three requirements: small, powerful and safe. A micro propulsion system meeting those requirements are developed based on the RIM propeller concept. It is compact and powerful; the complete motor-propeller assembly is 33mm in diameter, 12mm in depth and 16g in weight, and it is capable of producing 0.4N thrust in static water given a 7.1W power input. The paper presents the design, manufacturing and integration of the micro RIM propeller in an AUV.
2013
5.
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.
4.
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
3.
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.
2.
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.
2011
1.
Brett Shapiro; Nergis Mavalvala; Kamal Youcef-Toumi
Actuator sizing of a quadruple pendulum for advanced gravitational wave detectors Proceedings Article
In: Proceedings of the 2011 American Control Conference, pp. 1358-1363, ACC ACC, 2011, ISBN: 978-1-4577-0081-1.
Abstract | Links | BibTeX | Tags: Control Theory, Data-driven learning for intelligent machine maintanence, Experimentation, Fabrication, intelligent systems, Physical System Modeling, Simulation
@inproceedings{MRL_DDL_Actuator_Sizing_Pendulum,
title = {Actuator sizing 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/5991170},
doi = {10.1109/ACC.2011.5991170},
isbn = {978-1-4577-0081-1},
year = {2011},
date = {2011-08-18},
booktitle = {Proceedings of the 2011 American Control Conference},
pages = {1358-1363},
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 10 Hz 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. Appropriately sized actuators are essential to achieving the necessary control performance while limiting the cost, noise, and complexity associated with larger actuators. This paper applies the plant's pseudoinverse transfer function to analyze the least squares dynamic range required by the actuators to reject the stochastic disturbances exciting the Advanced LIGO quadruple pendulum isolation systems.},
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 10 Hz 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. Appropriately sized actuators are essential to achieving the necessary control performance while limiting the cost, noise, and complexity associated with larger actuators. This paper applies the plant's pseudoinverse transfer function to analyze the least squares dynamic range required by the actuators to reject the stochastic disturbances exciting the Advanced LIGO quadruple pendulum isolation systems.