var bibbase_data = {"data":"<img src=\"//bibbase.org/img/ajax-loader.gif\" id=\"spinner\"\n  style=\"display: none;\" alt=\"Loading..\" />\n\n<div id=\"bibbase\">\n\n  <script type=\"text/javascript\">\n    var bibbase = {\n      params: {\"bib\":\"https://bibbase.org/network/files/st9xSL7YY5jTXkqah\",\"jsonp\":\"1\",\"host\":\"bibbase.org\",\"ssl\":false},\n      data: [{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A modular low-cost atomic force microscope for precision mechatronics education\",\"author\":[{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"James\"],\"propositions\":[],\"lastnames\":[\"Quigley\"],\"suffixes\":[]},{\"firstnames\":[\"Xiaotong\"],\"propositions\":[],\"lastnames\":[\"Zhang\"],\"suffixes\":[]},{\"firstnames\":[\"Chen\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"Yi\"],\"propositions\":[],\"lastnames\":[\"Wang\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Low_cost_AFM,\\r\\ntitle = {A modular low-cost atomic force microscope for precision mechatronics education},\\r\\nauthor = {Fangzhou Xia and James Quigley and Xiaotong Zhang and Chen Yang and Yi Wang and Kamal Youcef-Toumi},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S0957415821000441},\\r\\ndoi = {https://doi.org/10.1016/j.mechatronics.2021.102550},\\r\\nissn = {0957-4158},\\r\\nyear  = {2021},\\r\\ndate = {2021-04-15},\\r\\njournal = {Mechatronics},\\r\\nvolume = {76},\\r\\npages = {102550},\\r\\npublisher = {ScienceDirect},\\r\\nabstract = {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.},\\r\\nkeywords = {Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Xia, F.\",\"Quigley, J.\",\"Zhang, X.\",\"Yang, C.\",\"Wang, Y.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Low_cost_AFM\",\"id\":\"MRL_AFM_Low_cost_AFM\",\"bibbaseid\":\"xia-quigley-zhang-yang-wang-youceftoumi-amodularlowcostatomicforcemicroscopeforprecisionmechatronicseducation-2021\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S0957415821000441\"},\"keyword\":[\"Experimentation\",\"Fabrication\",\"Instrumentation\",\"Mechatronic Design\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Model and Controller Design for High-speed Atomic Force Microscope Imaging and Autotuning\",\"author\":[{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Chen\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"Yi\"],\"propositions\":[],\"lastnames\":[\"Wang\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AFM_Imaging_Autotuning,\\r\\ntitle = {Model and Controller Design for High-speed Atomic Force Microscope Imaging and Autotuning},\\r\\nauthor = {Fangzhou Xia and Chen Yang and Yi Wang and Kamal Youcef-Toumi},\\r\\nurl = {https://www.dropbox.com/s/vekbaco9oq3kkuu/2020%20Spring%20Topical%20Design%20and%20Controls%20Proceedings%20revised%20DT.pdf?dl=0},\\r\\nyear  = {2020},\\r\\ndate = {2020-05-08},\\r\\nbooktitle = {2020 ASPE Spring Topical Meeting on Design and Control of Precision Mechatronic Systems},\\r\\npages = {99--104},\\r\\npublisher = {ASPE},\\r\\norganization = {ASPE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Xia, F.\",\"Yang, C.\",\"Wang, Y.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Imaging_Autotuning\",\"id\":\"MRL_AFM_Imaging_Autotuning\",\"bibbaseid\":\"xia-yang-wang-youceftoumi-modelandcontrollerdesignforhighspeedatomicforcemicroscopeimagingandautotuning-2020\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.dropbox.com/s/vekbaco9oq3kkuu/2020%20Spring%20Topical%20Design%20and%20Controls%20Proceedings%20revised%20DT.pdf?dl=0\"},\"keyword\":[\"Control Theory\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Modeling and Control of Piezoelectric Hysteresis: A Polynomial-Based Fractional Order Disturbance Compensation Approach\",\"author\":[{\"firstnames\":[\"Chen\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"Nicolas\"],\"propositions\":[],\"lastnames\":[\"Verbeek\"],\"suffixes\":[]},{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Yi\"],\"propositions\":[],\"lastnames\":[\"Wang\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Charge_Controller_PBFODC,\\r\\ntitle = {Modeling and Control of Piezoelectric Hysteresis: A Polynomial-Based Fractional Order Disturbance Compensation Approach},\\r\\nauthor = {Chen Yang and Nicolas Verbeek and Fangzhou Xia and Yi Wang and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/9027124},\\r\\ndoi = {10.1109/TIE.2020.2977567},\\r\\nissn = {1557-9948},\\r\\nyear  = {2020},\\r\\ndate = {2020-03-06},\\r\\njournal = {IEEE Transactions on Industrial Electronics},\\r\\npublisher = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Yang, C.\",\"Verbeek, N.\",\"Xia, F.\",\"Wang, Y.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Charge_Controller_PBFODC\",\"id\":\"MRL_AFM_Charge_Controller_PBFODC\",\"bibbaseid\":\"yang-verbeek-xia-wang-youceftoumi-modelingandcontrolofpiezoelectrichysteresisapolynomialbasedfractionalorderdisturbancecompensationapproach-2020\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/9027124\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Why simple quadrature is just as good as Monte Carlo\",\"author\":[{\"firstnames\":[\"Kevin\"],\"propositions\":[],\"lastnames\":[\"Vanslette\"],\"suffixes\":[]},{\"firstnames\":[\"Abdullatif\",\"Al\"],\"propositions\":[],\"lastnames\":[\"Alsheikh\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"http://dx.doi.org/10.1515/mcma-2020-2055\",\"doi\":\"10.1515/mcma-2020-2055\",\"issn\":\"1569-3961\",\"year\":\"2020\",\"date\":\"2020-03-01\",\"journal\":\"Monte Carlo Methods and Applications\",\"volume\":\"26\",\"number\":\"1\",\"pages\":\"1–16\",\"publisher\":\"Walter de Gruyter GmbH\",\"abstract\":\"We motive and calculate Newton–Cotes quadrature integration variance and compare it directly with Monte Carlo (MC) integration variance. We find an equivalence between deterministic quadrature sampling and random MC sampling by noting that MC random sampling is statistically indistinguishable from a method that uses deterministic sampling on a randomly shuffled (permuted) function. We use this statistical equivalence to regularize the form of permissible Bayesian quadrature integration priors such that they are guaranteed to be objectively comparable with MC. This leads to the proof that simple quadrature methods have expected variances that are less than or equal to their corresponding theoretical MC integration variances. Separately, using Bayesian probability theory, we find that the theoretical standard deviations of the unbiased errors of simple Newton–Cotes composite quadrature integrations improve over their worst case errors by an extra dimension independent factor ∝ N−1/2 This dimension independent factor is validated in our simulations.\",\"keywords\":\"Computational Intelligence, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Quadrature_Monte_Carlo,\\r\\ntitle = {Why simple quadrature is just as good as Monte Carlo},\\r\\nauthor = {Kevin Vanslette and Abdullatif Al Alsheikh and Kamal Youcef-Toumi},\\r\\nurl = {http://dx.doi.org/10.1515/mcma-2020-2055},\\r\\ndoi = {10.1515/mcma-2020-2055},\\r\\nissn = {1569-3961},\\r\\nyear  = {2020},\\r\\ndate = {2020-03-01},\\r\\njournal = {Monte Carlo Methods and Applications},\\r\\nvolume = {26},\\r\\nnumber = {1},\\r\\npages = {1–16},\\r\\npublisher = {Walter de Gruyter GmbH},\\r\\nabstract = {We motive and calculate Newton–Cotes quadrature integration variance and compare it directly with Monte Carlo (MC) integration variance. We find an equivalence between deterministic quadrature sampling and random MC sampling by noting that MC random sampling is statistically indistinguishable from a method that uses deterministic sampling on a randomly shuffled (permuted) function. We use this statistical equivalence to regularize the form of permissible Bayesian quadrature integration priors such that they are guaranteed to be objectively comparable with MC. This leads to the proof that simple quadrature methods have expected variances that are less than or equal to their corresponding theoretical MC integration variances. Separately, using Bayesian probability theory, we find that the theoretical standard deviations of the unbiased errors of simple Newton–Cotes composite quadrature integrations improve over their worst case errors by an extra dimension independent factor ∝ N−1/2 This dimension independent factor is validated in our simulations.},\\r\\nkeywords = {Computational Intelligence, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Vanslette, K.\",\"Alsheikh, A. A.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Quadrature_Monte_Carlo\",\"id\":\"MRL_AFM_Quadrature_Monte_Carlo\",\"bibbaseid\":\"vanslette-alsheikh-youceftoumi-whysimplequadratureisjustasgoodasmontecarlo-2020\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://dx.doi.org/10.1515/mcma-2020-2055\"},\"keyword\":[\"Computational Intelligence\",\"Control Theory\",\"Experimentation\",\"intelligent systems\",\"Modeling; sizing and control for smart grids\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation\",\"author\":[{\"firstnames\":[\"L\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"I\"],\"propositions\":[],\"lastnames\":[\"Paranawithana\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"U\"],\"propositions\":[],\"lastnames\":[\"Tan\"],\"suffixes\":[]}],\"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 &amp; Automation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Confidence_Based_Hybrid_Tracking,\\r\\ntitle = {Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation},\\r\\nauthor = {L Yang and I Paranawithana and K Youcef-Toumi and U Tan},\\r\\ndoi = {10.1109/TASE.2019.2932724},\\r\\nissn = {1558-3783},\\r\\nyear  = {2020},\\r\\ndate = {2020-01-01},\\r\\njournal = {IEEE Transactions on Automation Science and Engineering},\\r\\nvolume = {17},\\r\\nnumber = {1},\\r\\npages = {524-536},\\r\\npublisher = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Mechatronic Design, Nanotechnology, Physical System Modeling, Robotics &amp; Automation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Yang, L\",\"Paranawithana, I\",\"Youcef-Toumi, K\",\"Tan, U\"],\"key\":\"MRL_AFM_Confidence_Based_Hybrid_Tracking\",\"id\":\"MRL_AFM_Confidence_Based_Hybrid_Tracking\",\"bibbaseid\":\"yang-paranawithana-youceftoumi-tan-confidencebasedhybridtrackingtoovercomevisualtrackingfailuresincalibrationlessvisionguidedmicromanipulation-2020\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Algorithms\",\"Mechatronic Design\",\"Nanotechnology\",\"Physical System Modeling\",\"Robotics &amp; Automation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"RecyGlide: A Forearm-Worn Multi-Modal Haptic Display Aimed to Improve User VR Immersion Submission\",\"author\":[{\"firstnames\":[\"Juan\"],\"propositions\":[],\"lastnames\":[\"Heredia\"],\"suffixes\":[]},{\"firstnames\":[\"Jonathan\"],\"propositions\":[],\"lastnames\":[\"Tirado\"],\"suffixes\":[]},{\"firstnames\":[\"Vladislav\"],\"propositions\":[],\"lastnames\":[\"Panov\"],\"suffixes\":[]},{\"firstnames\":[\"Miguel\",\"Altamirano\"],\"propositions\":[],\"lastnames\":[\"Cabrera\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Dzmitry\"],\"propositions\":[],\"lastnames\":[\"Tsetserukou\"],\"suffixes\":[]}],\"url\":\"https://doi.org/10.1145/3359996.3364759\",\"doi\":\"10.1145/3359996.3364759\",\"isbn\":\"9781450370011\",\"year\":\"2019\",\"date\":\"2019-11-01\",\"booktitle\":\"25th ACM Symposium on Virtual Reality Software and Technology\",\"pages\":\"1-2\",\"publisher\":\"Association for Computing Machinery\",\"abstract\":\"Haptic devices have been employed to immerse users in VR environments. In particular, hand and finger haptic devices have been deeply developed. However, this type of devices occludes hand detection for some tracking systems, or, for some other tracking systems, it is uncomfortable for the users to wear two different devices (haptic and tracking device) on both hands. We introduce RecyGlide, a novel wearable multimodal display located at the forearm. The RecyGlide is composed of inverted five-bar linkages with 2 degrees of freedom (DoF) and vibration motors (see Fig. 1.(a). The device provides multimodal tactile feedback such as slippage, force vector, pressure, and vibration. We tested the discrimination ability of monomodal and multimodal stimuli patterns on the forearm and confirmed that the multimodal patterns have higher recognition rate. This haptic device was used in VR applications, and we proved that it enhances VR experience and makes it more interactive.\",\"keywords\":\"Computational Intelligence, Control Theory, Data-driven learning for intelligent machine maintenance, Experimentation, intelligent systems, Mechatronic Design, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_AFM_VR_Multi_Modal_Display,\\r\\ntitle = {RecyGlide: A Forearm-Worn Multi-Modal Haptic Display Aimed to Improve User VR Immersion Submission},\\r\\nauthor = {Juan Heredia and Jonathan Tirado and Vladislav Panov and Miguel Altamirano Cabrera and Kamal Youcef-Toumi and Dzmitry Tsetserukou},\\r\\nurl = {https://doi.org/10.1145/3359996.3364759},\\r\\ndoi = {10.1145/3359996.3364759},\\r\\nisbn = {9781450370011},\\r\\nyear  = {2019},\\r\\ndate = {2019-11-01},\\r\\nbooktitle = {25th ACM Symposium on Virtual Reality Software and Technology},\\r\\npages = {1-2},\\r\\npublisher = {Association for Computing Machinery},\\r\\nabstract = {Haptic devices have been employed to immerse users in VR environments. In particular, hand and finger haptic devices have been deeply developed. However, this type of devices occludes hand detection for some tracking systems, or, for some other tracking systems, it is uncomfortable for the users to wear two different devices (haptic and tracking device) on both hands. We introduce RecyGlide, a novel wearable multimodal display located at the forearm. The RecyGlide is composed of inverted five-bar linkages with 2 degrees of freedom (DoF) and vibration motors (see Fig. 1.(a). The device provides multimodal tactile feedback such as slippage, force vector, pressure, and vibration. We tested the discrimination ability of monomodal and multimodal stimuli patterns on the forearm and confirmed that the multimodal patterns have higher recognition rate. This haptic device was used in VR applications, and we proved that it enhances VR experience and makes it more interactive.},\\r\\nkeywords = {Computational Intelligence, Control Theory, Data-driven learning for intelligent machine maintenance, Experimentation, intelligent systems, Mechatronic Design, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Heredia, J.\",\"Tirado, J.\",\"Panov, V.\",\"Cabrera, M. A.\",\"Youcef-Toumi, K.\",\"Tsetserukou, D.\"],\"key\":\"MRL_AFM_VR_Multi_Modal_Display\",\"id\":\"MRL_AFM_VR_Multi_Modal_Display\",\"bibbaseid\":\"heredia-tirado-panov-cabrera-youceftoumi-tsetserukou-recyglideaforearmwornmultimodalhapticdisplayaimedtoimproveuservrimmersionsubmission-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1145/3359996.3364759\"},\"keyword\":[\"Computational Intelligence\",\"Control Theory\",\"Data-driven learning for intelligent machine maintenance\",\"Experimentation\",\"intelligent systems\",\"Mechatronic Design\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A general model validation and testing tool\",\"author\":[{\"firstnames\":[\"Kevin\"],\"propositions\":[],\"lastnames\":[\"Vanslette\"],\"suffixes\":[]},{\"firstnames\":[\"Tony\"],\"propositions\":[],\"lastnames\":[\"Tohme\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://www.sciencedirect.com/science/article/pii/S0951832019302571\",\"doi\":\"https://doi.org/10.1016/j.ress.2019.106684\",\"issn\":\"0951-8320\",\"year\":\"2019\",\"date\":\"2019-10-28\",\"journal\":\"Reliability Engineering & System Safety\",\"volume\":\"195\",\"pages\":\"106684\",\"publisher\":\"Elsevier BV\",\"abstract\":\"We construct and propose the “Bayesian Validation Metric” (BVM) as a general model validation and testing tool. We find the BVM to be capable of representing all of the standard validation metrics (square error, reliability, probability of agreement, frequentist, area, probability density comparison, statistical hypothesis testing, and Bayesian model testing) as special cases and find that it can be used to improve, generalize, or further quantify their uncertainties. Thus, the BVM allows us to assess the similarities and differences between existing validation metrics in a new light. The BVM has the capacity to allow users to invent and select models according to novel validation requirements. We formulate and test a few novel compound validation metrics that improve upon other validation metrics in the literature. Further, we construct the BVM Ratio for the purpose of quantifying model selection under user defined definitions of agreement in the presence or absence of uncertainty. This construction generalizes the Bayesian model testing framework.\",\"keywords\":\"Algorithms, Computational Intelligence, Control Theory, Experimentation, intelligent systems, Probabilistic neural networks for robust machine learning, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_Model_Validation_Testing,\\r\\ntitle = {A general model validation and testing tool},\\r\\nauthor = {Kevin Vanslette and Tony Tohme and Kamal Youcef-Toumi},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S0951832019302571},\\r\\ndoi = {https://doi.org/10.1016/j.ress.2019.106684},\\r\\nissn = {0951-8320},\\r\\nyear  = {2019},\\r\\ndate = {2019-10-28},\\r\\njournal = {Reliability Engineering & System Safety},\\r\\nvolume = {195},\\r\\npages = {106684},\\r\\npublisher = {Elsevier BV},\\r\\nabstract = {We construct and propose the “Bayesian Validation Metric” (BVM) as a general model validation and testing tool. We find the BVM to be capable of representing all of the standard validation metrics (square error, reliability, probability of agreement, frequentist, area, probability density comparison, statistical hypothesis testing, and Bayesian model testing) as special cases and find that it can be used to improve, generalize, or further quantify their uncertainties. Thus, the BVM allows us to assess the similarities and differences between existing validation metrics in a new light. The BVM has the capacity to allow users to invent and select models according to novel validation requirements. We formulate and test a few novel compound validation metrics that improve upon other validation metrics in the literature. Further, we construct the BVM Ratio for the purpose of quantifying model selection under user defined definitions of agreement in the presence or absence of uncertainty. This construction generalizes the Bayesian model testing framework.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Control Theory, Experimentation, intelligent systems, Probabilistic neural networks for robust machine learning, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Vanslette, K.\",\"Tohme, T.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_Model_Validation_Testing\",\"id\":\"MRL_Model_Validation_Testing\",\"bibbaseid\":\"vanslette-tohme-youceftoumi-ageneralmodelvalidationandtestingtool-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S0951832019302571\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Control Theory\",\"Experimentation\",\"intelligent systems\",\"Probabilistic neural networks for robust machine learning\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Bandwidth Based Repetitive Controller Design for a Modular Multi-actuated AFM Scanner\",\"author\":[{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Chen\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"Yi\"],\"propositions\":[],\"lastnames\":[\"Wang\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AFM_Bandwidth_Based_Repetitive_Control,\\r\\ntitle = {Bandwidth Based Repetitive Controller Design for a Modular Multi-actuated AFM Scanner},\\r\\nauthor = {Fangzhou Xia and Chen Yang and Yi Wang and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/8814642},\\r\\ndoi = {10.23919/ACC.2019.8814642},\\r\\nyear  = {2019},\\r\\ndate = {2019-08-29},\\r\\nbooktitle = {2019 American Control Conference (ACC)},\\r\\npages = {3776--3781},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Xia, F.\",\"Yang, C.\",\"Wang, Y.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Bandwidth_Based_Repetitive_Control\",\"id\":\"MRL_AFM_Bandwidth_Based_Repetitive_Control\",\"bibbaseid\":\"xia-yang-wang-youceftoumi-bandwidthbasedrepetitivecontrollerdesignforamodularmultiactuatedafmscanner-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/8814642\"},\"keyword\":[\"Control Theory\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure\",\"author\":[{\"firstnames\":[\"Chen\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Yi\"],\"propositions\":[],\"lastnames\":[\"Wang\"],\"suffixes\":[]},{\"firstnames\":[\"Stephen\"],\"propositions\":[],\"lastnames\":[\"Truncale\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AFM_Stacked_Nanopositioner,\\r\\ntitle = {Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure},\\r\\nauthor = {Chen Yang and Fangzhou Xia and Yi Wang and Stephen Truncale and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/8815299},\\r\\ndoi = {10.23919/ACC.2019.8815299},\\r\\nisbn = {978-1-5386-7926-5},\\r\\nyear  = {2019},\\r\\ndate = {2019-08-29},\\r\\nbooktitle = {2019 American Control Conference (ACC)},\\r\\npages = {3782--3788},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Yang, C.\",\"Xia, F.\",\"Wang, Y.\",\"Truncale, S.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Stacked_Nanopositioner\",\"id\":\"MRL_AFM_Stacked_Nanopositioner\",\"bibbaseid\":\"yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/8815299\"},\"keyword\":[\"Experimentation\",\"Fabrication\",\"Instrumentation\",\"Mechatronic Design\",\"Nanoscale video imaging for dynamic process visualization\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A Practical Minimalism Approach to In-pipe Robot Localization\",\"author\":[{\"firstnames\":[\"You\"],\"propositions\":[],\"lastnames\":[\"Wu\"],\"suffixes\":[]},{\"firstnames\":[\"Elizabeth\"],\"propositions\":[],\"lastnames\":[\"Mittmann\"],\"suffixes\":[]},{\"firstnames\":[\"Crystal\"],\"propositions\":[],\"lastnames\":[\"Winston\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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 &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Pipe_Robot_Localization,\\r\\ntitle = {A Practical Minimalism Approach to In-pipe Robot Localization},\\r\\nauthor = {You Wu and Elizabeth Mittmann and Crystal Winston and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/8814648},\\r\\ndoi = {10.23919/ACC.2019.8814648},\\r\\nisbn = {978-1-5386-7926-5},\\r\\nyear  = {2019},\\r\\ndate = {2019-08-19},\\r\\nbooktitle = {2019 American Control Conference (ACC)},\\r\\npages = {3180-3187},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Wu, Y.\",\"Mittmann, E.\",\"Winston, C.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_WDP_Pipe_Robot_Localization\",\"id\":\"MRL_WDP_Pipe_Robot_Localization\",\"bibbaseid\":\"wu-mittmann-winston-youceftoumi-apracticalminimalismapproachtoinpiperobotlocalization-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/8814648\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Design of Versatile and Low-Cost Shaft Sensor for Health Monitoring\",\"author\":[{\"firstnames\":[\"Erik\"],\"propositions\":[],\"lastnames\":[\"Gest\"],\"suffixes\":[]},{\"firstnames\":[\"Mikio\"],\"propositions\":[],\"lastnames\":[\"Furokawa\"],\"suffixes\":[]},{\"firstnames\":[\"Takayuki\"],\"propositions\":[],\"lastnames\":[\"Hirano\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AFM_Shaft_Sensor_Health_Monitoring,\\r\\ntitle = {Design of Versatile and Low-Cost Shaft Sensor for Health Monitoring},\\r\\nauthor = {Erik Gest and Mikio Furokawa and Takayuki Hirano and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/8794408},\\r\\ndoi = {10.1109/ICRA.2019.8794408},\\r\\nisbn = {978-1-5386-6027-0},\\r\\nyear  = {2019},\\r\\ndate = {2019-08-12},\\r\\npages = {1926-1932},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Data-driven learning for intelligent machine maintenance, Experimentation, Fabrication, Instrumentation, intelligent systems, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Gest, E.\",\"Furokawa, M.\",\"Hirano, T.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Shaft_Sensor_Health_Monitoring\",\"id\":\"MRL_AFM_Shaft_Sensor_Health_Monitoring\",\"bibbaseid\":\"gest-furokawa-hirano-youceftoumi-designofversatileandlowcostshaftsensorforhealthmonitoring-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/8794408\"},\"keyword\":[\"Control Theory\",\"Data-driven learning for intelligent machine maintenance\",\"Experimentation\",\"Fabrication\",\"Instrumentation\",\"intelligent systems\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Automatic Targeting of Plant Cells via Cell Segmentation and Robust Scene-Adaptive Tracking\",\"author\":[{\"firstnames\":[\"Ishara\"],\"propositions\":[],\"lastnames\":[\"Paranawithana\"],\"suffixes\":[]},{\"firstnames\":[\"Zhong\",\"Hoo\"],\"propositions\":[],\"lastnames\":[\"Chau\"],\"suffixes\":[]},{\"firstnames\":[\"Liangjing\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"Zhong\"],\"propositions\":[],\"lastnames\":[\"Chen\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"U-Xuan\"],\"propositions\":[],\"lastnames\":[\"Tan\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/document/8793944\",\"doi\":\"10.1109/ICRA.2019.8793944\",\"isbn\":\"978-1-5386-6027-0\",\"year\":\"2019\",\"date\":\"2019-08-12\",\"booktitle\":\"2019 International Conference on Robotics and Automation (ICRA)\",\"pages\":\"7116-7122\",\"publisher\":\"IEEE\",\"organization\":\"IEEE\",\"abstract\":\"Automatic targeting of plant cells to perform tasks like extraction of chloroplast is often desired in the study of plant biology. Hence, this paper proposes an improved cell segmentation method combined with a robust tracking algorithm for vision-guided micromanipulation in plant cells. The objective of this work is to develop an automatic plant cell detection and localization technique to complete the automated workflow for plant cell manipulation. The complex structural properties of plant cells make both segmentation of cells and visual tracking of the microneedle immensely challenging, unlike single animal cell applications. Thus, an improved version of watershed segmentation with adaptive thresholding is proposed to detect the plant cells without the need for staining of the cells or additional tedious preparations. To manipulate the needle to reach the identified centroid of the cells, tracking of the needle tip is required. Visual and motion information from two data sources namely, template tracking and projected manipulator trajectory are combined using score-based normalized weighted averaging to continuously track the microneedle. The selection of trackers is influenced by their complementary nature as the former and latter are individually robust against physical and visual uncertainties, respectively. Experimental results validate the effectiveness of the proposed method by detecting plant cell centroids accurately, tracking the microneedle constantly and reaching the plant cell of interest despite the presence of visual disturbances.\",\"keywords\":\"Algorithms, Biological device for cancer cell characterization, Computational Intelligence, Experimentation, Mechatronic Design, Nanotechnology, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_AFM_Cell_Segment_Targeting,\\r\\ntitle = {Automatic Targeting of Plant Cells via Cell Segmentation and Robust Scene-Adaptive Tracking},\\r\\nauthor = {Ishara Paranawithana and Zhong Hoo Chau and Liangjing Yang and Zhong Chen and Kamal Youcef-Toumi and U-Xuan Tan},\\r\\nurl = {https://ieeexplore.ieee.org/document/8793944},\\r\\ndoi = {10.1109/ICRA.2019.8793944},\\r\\nisbn = {978-1-5386-6027-0},\\r\\nyear  = {2019},\\r\\ndate = {2019-08-12},\\r\\nbooktitle = {2019 International Conference on Robotics and Automation (ICRA)},\\r\\npages = {7116-7122},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {Automatic targeting of plant cells to perform tasks like extraction of chloroplast is often desired in the study of plant biology. Hence, this paper proposes an improved cell segmentation method combined with a robust tracking algorithm for vision-guided micromanipulation in plant cells. The objective of this work is to develop an automatic plant cell detection and localization technique to complete the automated workflow for plant cell manipulation. The complex structural properties of plant cells make both segmentation of cells and visual tracking of the microneedle immensely challenging, unlike single animal cell applications. Thus, an improved version of watershed segmentation with adaptive thresholding is proposed to detect the plant cells without the need for staining of the cells or additional tedious preparations. To manipulate the needle to reach the identified centroid of the cells, tracking of the needle tip is required. Visual and motion information from two data sources namely, template tracking and projected manipulator trajectory are combined using score-based normalized weighted averaging to continuously track the microneedle. The selection of trackers is influenced by their complementary nature as the former and latter are individually robust against physical and visual uncertainties, respectively. Experimental results validate the effectiveness of the proposed method by detecting plant cell centroids accurately, tracking the microneedle constantly and reaching the plant cell of interest despite the presence of visual disturbances.},\\r\\nkeywords = {Algorithms, Biological device for cancer cell characterization, Computational Intelligence, Experimentation, Mechatronic Design, Nanotechnology, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Paranawithana, I.\",\"Chau, Z. H.\",\"Yang, L.\",\"Chen, Z.\",\"Youcef-Toumi, K.\",\"Tan, U.\"],\"key\":\"MRL_AFM_Cell_Segment_Targeting\",\"id\":\"MRL_AFM_Cell_Segment_Targeting\",\"bibbaseid\":\"paranawithana-chau-yang-chen-youceftoumi-tan-automatictargetingofplantcellsviacellsegmentationandrobustsceneadaptivetracking-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/8793944\"},\"keyword\":[\"Algorithms\",\"Biological device for cancer cell characterization\",\"Computational Intelligence\",\"Experimentation\",\"Mechatronic Design\",\"Nanotechnology\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure\",\"author\":[{\"firstnames\":[\"C\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"F\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Y\"],\"propositions\":[],\"lastnames\":[\"Wang\"],\"suffixes\":[]},{\"firstnames\":[\"S\"],\"propositions\":[],\"lastnames\":[\"Truncale\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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 &amp; Automation\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_AFM_Nanopositioning_Stage_Stacked,\\r\\ntitle = {Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure},\\r\\nauthor = {C Yang and F Xia and Y Wang and S Truncale and K Youcef-Toumi},\\r\\ndoi = {10.23919/ACC.2019.8815299},\\r\\nissn = {2378-5861},\\r\\nyear  = {2019},\\r\\ndate = {2019-07-12},\\r\\nbooktitle = {2019 American Control Conference (ACC)},\\r\\njournal = {xplore},\\r\\npages = {3782-3788},\\r\\npublisher = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Direct-drive robots for laser cutting manufacturing, Fabrication, Instrumentation, Mechatronic Design, Robotics &amp; Automation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Yang, C\",\"Xia, F\",\"Wang, Y\",\"Truncale, S\",\"Youcef-Toumi, K\"],\"key\":\"MRL_AFM_Nanopositioning_Stage_Stacked\",\"id\":\"MRL_AFM_Nanopositioning_Stage_Stacked\",\"bibbaseid\":\"yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Control Theory\",\"Direct-drive robots for laser cutting manufacturing\",\"Fabrication\",\"Instrumentation\",\"Mechatronic Design\",\"Robotics &amp; Automation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Lights Out! Nano-Scale Topography Imaging of Sample Surface in Opaque Liquid Environments with Coated Active Cantilever Probes\",\"author\":[{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Chen\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"Yi\"],\"propositions\":[],\"lastnames\":[\"Wang\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Christoph\"],\"propositions\":[],\"lastnames\":[\"Reuter\"],\"suffixes\":[]},{\"firstnames\":[\"Tzvetan\"],\"propositions\":[],\"lastnames\":[\"Ivanov\"],\"suffixes\":[]},{\"firstnames\":[\"Mathias\"],\"propositions\":[],\"lastnames\":[\"Holz\"],\"suffixes\":[]},{\"firstnames\":[\"Ivo\",\"W\"],\"propositions\":[],\"lastnames\":[\"Rangelow\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_coated_probe,\\r\\ntitle = {Lights Out! Nano-Scale Topography Imaging of Sample Surface in Opaque Liquid Environments with Coated Active Cantilever Probes},\\r\\nauthor = {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},\\r\\nurl = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6669515/},\\r\\ndoi = {10.3390/nano9071013},\\r\\nyear  = {2019},\\r\\ndate = {2019-07-09},\\r\\njournal = {Nanomaterials},\\r\\nvolume = {9},\\r\\nnumber = {7},\\r\\npages = {1013},\\r\\npublisher = {Multidisciplinary Digital Publishing Institute},\\r\\nabstract = {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.},\\r\\nkeywords = {Experimentation, Fabrication, Full text available online, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Xia, F.\",\"Yang, C.\",\"Wang, Y.\",\"Youcef-Toumi, K.\",\"Reuter, C.\",\"Ivanov, T.\",\"Holz, M.\",\"Rangelow, I. W\"],\"key\":\"MRL_AFM_coated_probe\",\"id\":\"MRL_AFM_coated_probe\",\"bibbaseid\":\"xia-yang-wang-youceftoumi-reuter-ivanov-holz-rangelow-lightsoutnanoscaletopographyimagingofsamplesurfaceinopaqueliquidenvironmentswithcoatedactivecantileverprobes-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6669515/\"},\"keyword\":[\"Experimentation\",\"Fabrication\",\"Full text available online\",\"Instrumentation\",\"Mechatronic Design\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Vectorized Uncertainty Propagation and Input Probability Sensitivity Analysis\",\"author\":[{\"firstnames\":[\"Kevin\"],\"propositions\":[],\"lastnames\":[\"Vanslette\"],\"suffixes\":[]},{\"firstnames\":[\"Arwa\"],\"propositions\":[],\"lastnames\":[\"Alanqari\"],\"suffixes\":[]},{\"firstnames\":[\"Zeyad\"],\"propositions\":[],\"lastnames\":[\"Al-awwad\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://arxiv.org/abs/1908.11246\",\"doi\":\"1908.11246v1\",\"year\":\"2019\",\"date\":\"2019-06-04\",\"publisher\":\"King Abdulaziz City for Science and Technology\",\"abstract\":\"In this article we construct a theoretical and computational process for assessing Input Probability Sensitivity Analysis (IPSA) using a Graphics Processing Unit (GPU) enabled technique called Vectorized Uncertainty Propagation (VUP). VUP propagates probability distributions through a parametric computational model in a way that’s computational time complexity grows sublinearly in the number of distinct propagated input probability distributions. VUP can therefore be used to efficiently implement IPSA, which estimates a model’s probabilistic sensitivity to measurement and parametric uncertainty over each relevant measurement location. Theory and simulation illustrate the effectiveness of these methods.\",\"keywords\":\"Algorithms, Computational Intelligence, Experimentation, Uncertainty estimation and calibration for modeling\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Vectorized_Uncertainty_Input_Probability,\\r\\ntitle = {Vectorized Uncertainty Propagation and Input Probability Sensitivity Analysis},\\r\\nauthor = {Kevin Vanslette and Arwa Alanqari and Zeyad Al-awwad and Kamal Youcef-Toumi},\\r\\nurl = {https://arxiv.org/abs/1908.11246},\\r\\ndoi = {1908.11246v1},\\r\\nyear  = {2019},\\r\\ndate = {2019-06-04},\\r\\npublisher = {King Abdulaziz City for Science and Technology},\\r\\nabstract = {In this article we construct a theoretical and computational process for assessing Input Probability Sensitivity Analysis (IPSA) using a Graphics Processing Unit (GPU) enabled technique called Vectorized Uncertainty \\r\\nPropagation (VUP). VUP propagates probability distributions through \\r\\na parametric computational model in a way that’s computational time \\r\\ncomplexity grows sublinearly in the number of distinct propagated input probability distributions. VUP can therefore be used to efficiently \\r\\nimplement IPSA, which estimates a model’s probabilistic sensitivity to \\r\\nmeasurement and parametric uncertainty over each relevant measurement \\r\\nlocation. Theory and simulation illustrate the effectiveness of these methods.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Experimentation, Uncertainty estimation and calibration for modeling},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Vanslette, K.\",\"Alanqari, A.\",\"Al-awwad, Z.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Vectorized_Uncertainty_Input_Probability\",\"id\":\"MRL_AFM_Vectorized_Uncertainty_Input_Probability\",\"bibbaseid\":\"vanslette-alanqari-alawwad-youceftoumi-vectorizeduncertaintypropagationandinputprobabilitysensitivityanalysis-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://arxiv.org/abs/1908.11246\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Experimentation\",\"Uncertainty estimation and calibration for modeling\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"See the E-Waste! Training Visual Intelligence to See Dense Circuit Boards for Recycling\",\"author\":[{\"firstnames\":[\"Ali\"],\"propositions\":[],\"lastnames\":[\"Jahanian\"],\"suffixes\":[]},{\"firstnames\":[\"Quang\",\"H\"],\"propositions\":[],\"lastnames\":[\"Le\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Dzmitry\"],\"propositions\":[],\"lastnames\":[\"Tsetserukou\"],\"suffixes\":[]}],\"url\":\"https://openaccess.thecvf.com/content_CVPRW_2019/html/cv4gc/Jahanian_See_the_E-Waste_Training_Visual_Intelligence_to_See_Dense_Circuit_CVPRW_2019_paper.html\",\"year\":\"2019\",\"date\":\"2019-06-01\",\"booktitle\":\"Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops\",\"abstract\":\"The state-of-the-art semantic segmentation and object detection deep learning models are taking the leap to generalize and leverage automation, but have yet to be useful in real-world tasks such as those in dense circuit board robotic manipulation. Consider a cellphone circuit board that because of small components and a couple of hundred microns gaps between them challenges any manipulation task. For effective automation and robotics usage in manufacturing, we tackle this problem by building a convolutional neural networks optimized for multi-task learning of instance semantic segmentation and detection while accounting for crisp boundaries of small components inside dense boards. We explore the feature learning mechanism, and add the auxiliary task of boundary detection to encourage the network to learn the objects' geometric properties along with the other objectives. We examine the performance of the networks in the visual tasks (separately and all together), and the extent of generalization on the recycling phone dataset. Our network outperformed the state-of-the-art in the visual tasks while maintaining the high speed of computation. To facilitate this globally concerning topic, we provide a benchmark for Ewaste visual tasks research, and publicize our collected dataset and code, as well as demos on our in-lab robot at https://github.com/MIT-MRL/recybot. pubstate = published\",\"keywords\":\"Algorithms, Automated cellphone recycling, Computational Intelligence, Experimentation, Mechatronic Design, Robotics &amp; Automation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_AFM_Training_CB_Recycling,\\r\\ntitle = {See the E-Waste! Training Visual Intelligence to See Dense Circuit Boards for Recycling},\\r\\nauthor = {Ali Jahanian and Quang H Le and Kamal Youcef-Toumi and Dzmitry Tsetserukou},\\r\\nurl = {https://openaccess.thecvf.com/content_CVPRW_2019/html/cv4gc/Jahanian_See_the_E-Waste_Training_Visual_Intelligence_to_See_Dense_Circuit_CVPRW_2019_paper.html},\\r\\nyear  = {2019},\\r\\ndate = {2019-06-01},\\r\\nbooktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},\\r\\nabstract = {The state-of-the-art semantic segmentation and object detection deep learning models are taking the leap to generalize and leverage automation, but have yet to be useful in real-world tasks such as those in dense circuit board robotic manipulation. Consider a cellphone circuit board that because of small components and a couple of hundred microns gaps between them challenges any manipulation task. For effective automation and robotics usage in manufacturing, we tackle this problem by building a convolutional neural networks optimized for multi-task learning of instance semantic segmentation and detection while accounting for crisp boundaries of small components inside dense boards. We explore the feature learning mechanism, and add the auxiliary task of boundary detection to encourage the network to learn the objects' geometric properties along with the other objectives. We examine the performance of the networks in the visual tasks (separately and all together), and the extent of generalization on the recycling phone dataset. Our network outperformed the state-of-the-art in the visual tasks while maintaining the high speed of computation. To facilitate this globally concerning topic, we provide a benchmark for Ewaste visual tasks research, and publicize our collected dataset and code, as well as demos on our in-lab robot at https://github.com/MIT-MRL/recybot. pubstate = published},\\r\\nkeywords = {Algorithms, Automated cellphone recycling, Computational Intelligence, Experimentation, Mechatronic Design, Robotics &amp; Automation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Jahanian, A.\",\"Le, Q. H\",\"Youcef-Toumi, K.\",\"Tsetserukou, D.\"],\"key\":\"MRL_AFM_Training_CB_Recycling\",\"id\":\"MRL_AFM_Training_CB_Recycling\",\"bibbaseid\":\"jahanian-le-youceftoumi-tsetserukou-seetheewastetrainingvisualintelligencetoseedensecircuitboardsforrecycling-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://openaccess.thecvf.com/content_CVPRW_2019/html/cv4gc/Jahanian_See_the_E-Waste_Training_Visual_Intelligence_to_See_Dense_Circuit_CVPRW_2019_paper.html\"},\"keyword\":[\"Algorithms\",\"Automated cellphone recycling\",\"Computational Intelligence\",\"Experimentation\",\"Mechatronic Design\",\"Robotics &amp; Automation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Unevenly spaced continuous measurement approach for dual rotating–retarder Mueller matrix ellipsometry\",\"author\":[{\"firstnames\":[\"Kai\"],\"propositions\":[],\"lastnames\":[\"Meng\"],\"suffixes\":[]},{\"firstnames\":[\"Bo\"],\"propositions\":[],\"lastnames\":[\"Jiang\"],\"suffixes\":[]},{\"firstnames\":[\"Christos\",\"D\"],\"propositions\":[],\"lastnames\":[\"Samolis\"],\"suffixes\":[]},{\"firstnames\":[\"Mohamad\"],\"propositions\":[],\"lastnames\":[\"Alrished\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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&#x2013;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\",\"bibtex\":\"@article{MRL_AFM_Dual_Rotating_Retarder_Mueller,\\r\\ntitle = {Unevenly spaced continuous measurement approach for dual rotating--retarder Mueller matrix ellipsometry},\\r\\nauthor = {Kai Meng and Bo Jiang and Christos D Samolis and Mohamad Alrished and Kamal Youcef-Toumi},\\r\\nurl = {http://www.opticsexpress.org/abstract.cfm?URI=oe-27-10-14736},\\r\\ndoi = {10.1364/OE.27.014736},\\r\\nissn = {1094-4087},\\r\\nyear  = {2019},\\r\\ndate = {2019-05-01},\\r\\njournal = {Opt. Express},\\r\\nvolume = {27},\\r\\nnumber = {10},\\r\\npages = {14736--14753},\\r\\npublisher = {OSA},\\r\\nabstract = {In order to efficiently extract the sample Mueller matrix by dual rotating&#x2013;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.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Intelligent optical characterization for nano-manufacturing, Nanotechnology, Physical System Modeling},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Meng, K.\",\"Jiang, B.\",\"Samolis, C. D\",\"Alrished, M.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Dual_Rotating_Retarder_Mueller\",\"id\":\"MRL_AFM_Dual_Rotating_Retarder_Mueller\",\"bibbaseid\":\"meng-jiang-samolis-alrished-youceftoumi-unevenlyspacedcontinuousmeasurementapproachfordualrotatingretardermuellermatrixellipsometry-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.opticsexpress.org/abstract.cfm?URI=oe-27-10-14736\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Intelligent optical characterization for nano-manufacturing\",\"Nanotechnology\",\"Physical System Modeling\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth\",\"author\":[{\"firstnames\":[\"Chen\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"Changle\"],\"propositions\":[],\"lastnames\":[\"Li\"],\"suffixes\":[]},{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Yanhe\"],\"propositions\":[],\"lastnames\":[\"Zhu\"],\"suffixes\":[]},{\"firstnames\":[\"Jie\"],\"propositions\":[],\"lastnames\":[\"Zhao\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Charge_Controller_Self_Compensating,\\r\\ntitle = {Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth},\\r\\nauthor = {Chen Yang and Changle Li and Fangzhou Xia and Yanhe Zhu and Jie Zhao and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/8466119},\\r\\ndoi = {10.1109/TIE.2018.2868321},\\r\\nyear  = {2018},\\r\\ndate = {2018-09-14},\\r\\njournal = {IEEE Transactions on Industrial Electronics},\\r\\nvolume = {66},\\r\\nnumber = {7},\\r\\npages = {5392--5402},\\r\\npublisher = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Yang, C.\",\"Li, C.\",\"Xia, F.\",\"Zhu, Y.\",\"Zhao, J.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Charge_Controller_Self_Compensating\",\"id\":\"MRL_AFM_Charge_Controller_Self_Compensating\",\"bibbaseid\":\"yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/8466119\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"Instrumentation\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Design and Control of a Multi-actuated High-bandwidth and Large-range Scanner for Atomic Force Microscopy\",\"author\":[{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Stephen\"],\"propositions\":[],\"lastnames\":[\"Truncale\"],\"suffixes\":[]},{\"firstnames\":[\"Yi\"],\"propositions\":[],\"lastnames\":[\"Wang\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AFM_Dual_Actuated_Scanner,\\r\\ntitle = {Design and Control of a Multi-actuated High-bandwidth and Large-range Scanner for Atomic Force Microscopy},\\r\\nauthor = {Fangzhou Xia and Stephen Truncale and Yi Wang and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/8431801},\\r\\ndoi = {10.23919/ACC.2018.8431801},\\r\\nyear  = {2018},\\r\\ndate = {2018-08-16},\\r\\nbooktitle = {2018 Annual American Control Conference (ACC)},\\r\\npages = {4330--4335},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Xia, F.\",\"Truncale, S.\",\"Wang, Y.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Dual_Actuated_Scanner\",\"id\":\"MRL_AFM_Dual_Actuated_Scanner\",\"bibbaseid\":\"xia-truncale-wang-youceftoumi-designandcontrolofamultiactuatedhighbandwidthandlargerangescannerforatomicforcemicroscopy-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/8431801\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"Fabrication\",\"Instrumentation\",\"Mechatronic Design\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Context-Aware Gossip-Based Protocol for Internet of Things Applications\",\"author\":[{\"firstnames\":[\"Lina\"],\"propositions\":[],\"lastnames\":[\"Altoaimy\"],\"suffixes\":[]},{\"firstnames\":[\"Arwa\"],\"propositions\":[],\"lastnames\":[\"Alromih\"],\"suffixes\":[]},{\"firstnames\":[\"Shiroq\"],\"propositions\":[],\"lastnames\":[\"Al-Megren\"],\"suffixes\":[]},{\"firstnames\":[\"Ghada\"],\"propositions\":[],\"lastnames\":[\"Al-Hudhud\"],\"suffixes\":[]},{\"firstnames\":[\"Heba\"],\"propositions\":[],\"lastnames\":[\"Kurdi\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://www.mdpi.com/1424-8220/18/7/2233\",\"doi\":\"10.3390/s18072233\",\"issn\":\"1424-8220\",\"year\":\"2018\",\"date\":\"2018-07-11\",\"journal\":\"Sensors\",\"volume\":\"18\",\"number\":\"7\",\"publisher\":\"MDPI\",\"abstract\":\"This paper proposes a gossip-based protocol that utilises a multi-factor weighting function (MFWF) that takes several parameters into account: residual energy, Chebyshev distances to neighbouring nodes and the sink node, node density, and message priority. The effects of these parameters were examined to guide the customization of the weight function to effectively disseminate data to three types of IoT applications: critical, bandwidth-intensive, and energy-efficient applications. The performances of the three resulting MFWFs were assessed in comparison with the performances of the traditional gossiping protocol and the Fair Efficient Location-based Gossiping (FELGossiping) protocol in terms of end-to-end delay, network lifetime, rebroadcast nodes, and saved rebroadcasts. The experimental results demonstrated the proposed protocol&rsquo;s ability to achieve a much shorter delay for critical IoT applications. For bandwidth-intensive IoT application, the proposed protocol was able to achieve a smaller percentage of rebroadcast nodes and an increased percentage of saved rebroadcasts, i.e., better bandwidth utilisation. The adapted MFWF for energy-efficient IoT application was able to improve the network lifetime compared to that of gossiping and FELGossiping. These results demonstrate the high level of flexibility of the proposed protocol with respect to network context and message priority.\",\"keywords\":\"Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Gossip_Protocal_Internet_App,\\r\\ntitle = {Context-Aware Gossip-Based Protocol for Internet of Things Applications},\\r\\nauthor = {Lina Altoaimy and Arwa Alromih and Shiroq Al-Megren and Ghada Al-Hudhud and Heba Kurdi and Kamal Youcef-Toumi},\\r\\nurl = {https://www.mdpi.com/1424-8220/18/7/2233},\\r\\ndoi = {10.3390/s18072233},\\r\\nissn = {1424-8220},\\r\\nyear  = {2018},\\r\\ndate = {2018-07-11},\\r\\njournal = {Sensors},\\r\\nvolume = {18},\\r\\nnumber = {7},\\r\\npublisher = {MDPI},\\r\\nabstract = {This paper proposes a gossip-based protocol that utilises a multi-factor weighting function (MFWF) that takes several parameters into account: residual energy, Chebyshev distances to neighbouring nodes and the sink node, node density, and message priority. The effects of these parameters were examined to guide the customization of the weight function to effectively disseminate data to three types of IoT applications: critical, bandwidth-intensive, and energy-efficient applications. The performances of the three resulting MFWFs were assessed in comparison with the performances of the traditional gossiping protocol and the Fair Efficient Location-based Gossiping (FELGossiping) protocol in terms of end-to-end delay, network lifetime, rebroadcast nodes, and saved rebroadcasts. The experimental results demonstrated the proposed protocol&rsquo;s ability to achieve a much shorter delay for critical IoT applications. For bandwidth-intensive IoT application, the proposed protocol was able to achieve a smaller percentage of rebroadcast nodes and an increased percentage of saved rebroadcasts, i.e., better bandwidth utilisation. The adapted MFWF for energy-efficient IoT application was able to improve the network lifetime compared to that of gossiping and FELGossiping. These results demonstrate the high level of flexibility of the proposed protocol with respect to network context and message priority.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Altoaimy, L.\",\"Alromih, A.\",\"Al-Megren, S.\",\"Al-Hudhud, G.\",\"Kurdi, H.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Gossip_Protocal_Internet_App\",\"id\":\"MRL_AFM_Gossip_Protocal_Internet_App\",\"bibbaseid\":\"altoaimy-alromih-almegren-alhudhud-kurdi-youceftoumi-contextawaregossipbasedprotocolforinternetofthingsapplications-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.mdpi.com/1424-8220/18/7/2233\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Data-driven learning for intelligent machine maintenance\",\"intelligent systems\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"MultiCuckoo: Multi-Cloud Service Composition Using a Cuckoo-Inspired Algorithm for the Internet of Things Applications\",\"author\":[{\"firstnames\":[\"H\"],\"propositions\":[],\"lastnames\":[\"Kurdi\"],\"suffixes\":[]},{\"firstnames\":[\"F\"],\"propositions\":[],\"lastnames\":[\"Ezzat\"],\"suffixes\":[]},{\"firstnames\":[\"L\"],\"propositions\":[],\"lastnames\":[\"Altoaimy\"],\"suffixes\":[]},{\"firstnames\":[\"S\",\"H\"],\"propositions\":[],\"lastnames\":[\"Ahmed\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/document/8476294?denied=\",\"doi\":\"10.1109/ACCESS.2018.2872744\",\"issn\":\"2169-3536\",\"year\":\"2018\",\"date\":\"2018-01-01\",\"journal\":\"IEEE Access\",\"volume\":\"6\",\"pages\":\"56737-56749\",\"publisher\":\"IEEE\",\"abstract\":\"Internet of things (IoT) applications aim to provide access to widespread interconnected networks of smart devices, services, and information. This can be achieved by integrating IoT and cloud computing (CC). By using cloud computing service composition (SC), multiple services from various providers can be combined to meet users' requirements. However, SC is known for its complexity and is classified as an NP-hard problem; such problems are usually approached using heuristics, such as bioinspired algorithms. This paper aims at developing a bio-inspired algorithm that mimics the behavior of cuckoo birds (which examine the nests of other birds to find eggs similar to their own) to find a composite service that fulfills a user's request in a multi-cloud environment (MCE). Previous work on cuckoo-inspired algorithms has generally utilized metaheuristics, which try to fit a “good”solution to a general optimization problem. In contrast, we propose a problem-dependent heuristic that considers the SC problem and its particularities in MCE. The proposed algorithm, MultiCuckoo, was thoroughly evaluated based on a well-controlled experimental framework that benchmarks the performance of the new algorithm to other outstanding SC algorithms, including the all clouds combination algorithm, base cloud combination algorithm, and combinatorial optimization algorithm for multiple cloud service Composition. The results show that our algorithm is more efficient in terms of decreasing the number of examined services, the composed clouds, and the running time in comparison to the benchmark algorithms.\",\"keywords\":\"Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems, Mechatronic Design, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_MultiCuckoo,\\r\\ntitle = {MultiCuckoo: Multi-Cloud Service Composition Using a Cuckoo-Inspired Algorithm for the Internet of Things Applications},\\r\\nauthor = {H Kurdi and F Ezzat and L Altoaimy and S H Ahmed and K Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/8476294?denied=},\\r\\ndoi = {10.1109/ACCESS.2018.2872744},\\r\\nissn = {2169-3536},\\r\\nyear  = {2018},\\r\\ndate = {2018-01-01},\\r\\njournal = {IEEE Access},\\r\\nvolume = {6},\\r\\npages = {56737-56749},\\r\\npublisher = {IEEE},\\r\\nabstract = {Internet of things (IoT) applications aim to provide access to widespread interconnected networks of smart devices, services, and information. This can be achieved by integrating IoT and cloud computing (CC). By using cloud computing service composition (SC), multiple services from various providers can be combined to meet users' requirements. However, SC is known for its complexity and is classified as an NP-hard problem; such problems are usually approached using heuristics, such as bioinspired algorithms. This paper aims at developing a bio-inspired algorithm that mimics the behavior of cuckoo birds (which examine the nests of other birds to find eggs similar to their own) to find a composite service that fulfills a user's request in a multi-cloud environment (MCE). Previous work on cuckoo-inspired algorithms has generally utilized metaheuristics, which try to fit a “good”solution to a general optimization problem. In contrast, we propose a problem-dependent heuristic that considers the SC problem and its particularities in MCE. The proposed algorithm, MultiCuckoo, was thoroughly evaluated based on a well-controlled experimental framework that benchmarks the performance of the new algorithm to other outstanding SC algorithms, including the all clouds combination algorithm, base cloud combination algorithm, and combinatorial optimization algorithm for multiple cloud service Composition. The results show that our algorithm is more efficient in terms of decreasing the number of examined services, the composed clouds, and the running time in comparison to the benchmark algorithms.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems, Mechatronic Design, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Kurdi, H\",\"Ezzat, F\",\"Altoaimy, L\",\"Ahmed, S H\",\"Youcef-Toumi, K\"],\"key\":\"MRL_AFM_MultiCuckoo\",\"id\":\"MRL_AFM_MultiCuckoo\",\"bibbaseid\":\"kurdi-ezzat-altoaimy-ahmed-youceftoumi-multicuckoomulticloudservicecompositionusingacuckooinspiredalgorithmfortheinternetofthingsapplications-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/8476294?denied=\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Data-driven learning for intelligent machine maintenance\",\"intelligent systems\",\"Mechatronic Design\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Review Article: Active scanning probes: A versatile toolkit for fast imaging and emerging nanofabrication\",\"author\":[{\"firstnames\":[\"Ivo\",\"W\"],\"propositions\":[],\"lastnames\":[\"Rangelow\"],\"suffixes\":[]},{\"firstnames\":[\"Tzvetan\"],\"propositions\":[],\"lastnames\":[\"Ivanov\"],\"suffixes\":[]},{\"firstnames\":[\"Ahmad\"],\"propositions\":[],\"lastnames\":[\"Ahmad\"],\"suffixes\":[]},{\"firstnames\":[\"Marcus\"],\"propositions\":[],\"lastnames\":[\"Kaestner\"],\"suffixes\":[]},{\"firstnames\":[\"Claudia\"],\"propositions\":[],\"lastnames\":[\"Lenk\"],\"suffixes\":[]},{\"firstnames\":[\"Iman\",\"Soltani\"],\"propositions\":[],\"lastnames\":[\"Bozchalooi\"],\"suffixes\":[]},{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Mathias\"],\"propositions\":[],\"lastnames\":[\"Holz\"],\"suffixes\":[]},{\"firstnames\":[\"Alexander\"],\"propositions\":[],\"lastnames\":[\"Reum\"],\"suffixes\":[]}],\"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 &amp;amp; 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\",\"bibtex\":\"@article{MRL_AFM_active_probe_review,\\r\\ntitle = {Review Article: Active scanning probes: A versatile toolkit for fast imaging and emerging nanofabrication},\\r\\nauthor = {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},\\r\\nurl = {https://avs.scitation.org/doi/full/10.1116/1.4992073},\\r\\ndoi = {10.1116/1.4992073},\\r\\nyear  = {2017},\\r\\ndate = {2017-11-03},\\r\\njournal = {Journal of Vacuum Science &amp;amp; Technology B, Nanotechnology and Microelectronics: Materials, Processing, Measurement, and Phenomena},\\r\\nvolume = {35},\\r\\nnumber = {6},\\r\\npages = {06G101},\\r\\npublisher = {American Vacuum Society},\\r\\nabstract = {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.},\\r\\nkeywords = {Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Rangelow, I. W\",\"Ivanov, T.\",\"Ahmad, A.\",\"Kaestner, M.\",\"Lenk, C.\",\"Bozchalooi, I. S.\",\"Xia, F.\",\"Youcef-Toumi, K.\",\"Holz, M.\",\"Reum, A.\"],\"key\":\"MRL_AFM_active_probe_review\",\"id\":\"MRL_AFM_active_probe_review\",\"bibbaseid\":\"rangelow-ivanov-ahmad-kaestner-lenk-bozchalooi-xia-youceftoumi-etal-reviewarticleactivescanningprobesaversatiletoolkitforfastimagingandemergingnanofabrication-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://avs.scitation.org/doi/full/10.1116/1.4992073\"},\"keyword\":[\"Instrumentation\",\"Mechatronic Design\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Automatic Vision-Guided Micromanipulation for Versatile Deployment and Portable Setup\",\"author\":[{\"firstnames\":[\"L\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"I\"],\"propositions\":[],\"lastnames\":[\"Paranawithana\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"U\"],\"propositions\":[],\"lastnames\":[\"Tan\"],\"suffixes\":[]}],\"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 &amp; Automation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Automatic_Micromanipulation,\\r\\ntitle = {Automatic Vision-Guided Micromanipulation for Versatile Deployment and Portable Setup},\\r\\nauthor = {L Yang and I Paranawithana and K Youcef-Toumi and U Tan},\\r\\ndoi = {10.1109/TASE.2017.2754517},\\r\\nissn = {1558-3783},\\r\\nyear  = {2017},\\r\\ndate = {2017-10-23},\\r\\njournal = {IEEE Transactions on Automation Science and Engineering},\\r\\nvolume = {15},\\r\\nnumber = {4},\\r\\npages = {1609-1620},\\r\\npublisher = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Mechatronic Design, Physical System Modeling, Robot operated modular fixtures, Robotics &amp; Automation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Yang, L\",\"Paranawithana, I\",\"Youcef-Toumi, K\",\"Tan, U\"],\"key\":\"MRL_AFM_Automatic_Micromanipulation\",\"id\":\"MRL_AFM_Automatic_Micromanipulation\",\"bibbaseid\":\"yang-paranawithana-youceftoumi-tan-automaticvisionguidedmicromanipulationforversatiledeploymentandportablesetup-2017\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Control Theory\",\"Mechatronic Design\",\"Physical System Modeling\",\"Robot operated modular fixtures\",\"Robotics &amp; Automation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"A new MPPT controller based on the Ant colony optimization algorithm for Photovoltaic systems under partial shading conditions\",\"author\":[{\"firstnames\":[\"Sabrina\"],\"propositions\":[],\"lastnames\":[\"Titri\"],\"suffixes\":[]},{\"firstnames\":[\"Cherif\"],\"propositions\":[],\"lastnames\":[\"Larbes\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\",\"Youcef\"],\"propositions\":[],\"lastnames\":[\"Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Karima\"],\"propositions\":[],\"lastnames\":[\"Benatchba\"],\"suffixes\":[]}],\"url\":\"https://www.sciencedirect.com/science/article/pii/S1568494617302703\",\"doi\":\"https://doi.org/10.1016/j.asoc.2017.05.017\",\"issn\":\"1568-4946\",\"year\":\"2017\",\"date\":\"2017-09-01\",\"journal\":\"Applied Soft Computing\",\"volume\":\"58\",\"pages\":\"465-479\",\"abstract\":\"The Maximum Power Point Tracking controller (MPPT) is a key element in Photovoltaic systems (PV). It is used to maintain the PV operating point at its maximum under different temperatures and sunlight irradiations. The goal of a MPPT controller is to satisfy the following performances criteria: accuracy, precision, speed, robustness and handling the partial shading problem when climatic changes variations occur. To achieve this goal, several techniques have been proposed ranging from conventional methods to artificial intelligence and bio-inspired methods. Each technique has its own advantage and disadvantage. In this context, we propose in this paper, a new Bio- inspired MPPT controller based on the Ant colony Optimization algorithm with a New Pheromone Updating strategy (ACO_NPU MPPT) that saves the computation time and performs an excellent tracking capability with high accuracy, zero oscillations and high robustness. First, the different steps of the design of the proposed ACO_NPU MPPT controller are developed. Then, several tests are performed under standard conditions for the selection of the appropriate ACO_NPU parameters (number of ants, coefficients of evaporation, archive size, etc.). To evaluate the performances of the obtained ACO_NPU MPPT, in terms of its tracking speed, accuracy, stability and robustness, tests are carried out under slow and rapid variations of weather conditions (Irradiance and Temperature) and under different partial shading patterns. Moreover, to demonstrate the superiority and robustness of the proposed ACO_NPU_MPPT controller, the obtained results are analyzed and compared with others obtained from the Conventional Methods (P&O_MPPT) and the Soft Computing Methods with Artificial intelligence (ANN_MPPT, FLC_MPPT, ANFIS_MPPT, FL_GA_MPPT) and with the Bio Inspired methods (PSO) and (ACO) from the literature. The obtained results show that the proposed ACO_NPU MPPT controller gives the best performances under variables atmospheric conditions. In addition, it can easily track the global maximum power point (GMPP) under partial shading conditions.\",\"keywords\":\"Algorithms, Computational Intelligence, intelligent systems, Mechatronic Design, Probabilistic neural networks for robust machine learning, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_MPPT_Controller_Ants,\\r\\ntitle = {A new MPPT controller based on the Ant colony optimization algorithm for Photovoltaic systems under partial shading conditions},\\r\\nauthor = {Sabrina Titri and Cherif Larbes and Kamal Youcef Toumi and Karima Benatchba},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S1568494617302703},\\r\\ndoi = {https://doi.org/10.1016/j.asoc.2017.05.017},\\r\\nissn = {1568-4946},\\r\\nyear  = {2017},\\r\\ndate = {2017-09-01},\\r\\njournal = {Applied Soft Computing},\\r\\nvolume = {58},\\r\\npages = {465-479},\\r\\nabstract = {The Maximum Power Point Tracking controller (MPPT) is a key element in Photovoltaic systems (PV). It is used to maintain the PV operating point at its maximum under different temperatures and sunlight irradiations. The goal of a MPPT controller is to satisfy the following performances criteria: accuracy, precision, speed, robustness and handling the partial shading problem when climatic changes variations occur. To achieve this goal, several techniques have been proposed ranging from conventional methods to artificial intelligence and bio-inspired methods. Each technique has its own advantage and disadvantage. In this context, we propose in this paper, a new Bio- inspired MPPT controller based on the Ant colony Optimization algorithm with a New Pheromone Updating strategy (ACO_NPU MPPT) that saves the computation time and performs an excellent tracking capability with high accuracy, zero oscillations and high robustness. First, the different steps of the design of the proposed ACO_NPU MPPT controller are developed. Then, several tests are performed under standard conditions for the selection of the appropriate ACO_NPU parameters (number of ants, coefficients of evaporation, archive size, etc.). To evaluate the performances of the obtained ACO_NPU MPPT, in terms of its tracking speed, accuracy, stability and robustness, tests are carried out under slow and rapid variations of weather conditions (Irradiance and Temperature) and under different partial shading patterns. Moreover, to demonstrate the superiority and robustness of the proposed ACO_NPU_MPPT controller, the obtained results are analyzed and compared with others obtained from the Conventional Methods (P&O_MPPT) and the Soft Computing Methods with Artificial intelligence (ANN_MPPT, FLC_MPPT, ANFIS_MPPT, FL_GA_MPPT) and with the Bio Inspired methods (PSO) and (ACO) from the literature. The obtained results show that the proposed ACO_NPU MPPT controller gives the best performances under variables atmospheric conditions. In addition, it can easily track the global maximum power point (GMPP) under partial shading conditions.},\\r\\nkeywords = {Algorithms, Computational Intelligence, intelligent systems, Mechatronic Design, Probabilistic neural networks for robust machine learning, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Titri, S.\",\"Larbes, C.\",\"Toumi, K. Y.\",\"Benatchba, K.\"],\"key\":\"MRL_AFM_MPPT_Controller_Ants\",\"id\":\"MRL_AFM_MPPT_Controller_Ants\",\"bibbaseid\":\"titri-larbes-toumi-benatchba-anewmpptcontrollerbasedontheantcolonyoptimizationalgorithmforphotovoltaicsystemsunderpartialshadingconditions-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S1568494617302703\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"intelligent systems\",\"Mechatronic Design\",\"Probabilistic neural networks for robust machine learning\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Induced Vibration Contact Detection for Minimizing Cantilever Tip-Sample Interaction Forces in Jumping Mode Atomic Force Microscopy\",\"author\":[{\"firstnames\":[\"Fangzhou\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Iman\",\"Soltani\"],\"propositions\":[],\"lastnames\":[\"Bozchalooi\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AFM_IVCD,\\r\\ntitle = {Induced Vibration Contact Detection for Minimizing Cantilever Tip-Sample Interaction Forces in Jumping Mode Atomic Force Microscopy},\\r\\nauthor = {Fangzhou Xia and Iman Soltani Bozchalooi and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/7963591},\\r\\ndoi = {10.23919/ACC.2017.7963591},\\r\\nisbn = {978-1-5090-5992-8},\\r\\nyear  = {2017},\\r\\ndate = {2017-07-03},\\r\\nbooktitle = {2017 American Control Conference (ACC)},\\r\\npages = {4141--4146},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Control Theory, Experimentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Xia, F.\",\"Bozchalooi, I. S.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_IVCD\",\"id\":\"MRL_AFM_IVCD\",\"bibbaseid\":\"xia-bozchalooi-youceftoumi-inducedvibrationcontactdetectionforminimizingcantilevertipsampleinteractionforcesinjumpingmodeatomicforcemicroscopy-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/7963591\"},\"keyword\":[\"Algorithms\",\"Control Theory\",\"Experimentation\",\"Mechatronic Design\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Channel modeling and testing of wireless transmission for underground in-pipe leak and material loss detection\",\"author\":[{\"firstnames\":[\"S\"],\"propositions\":[],\"lastnames\":[\"Mekid\"],\"suffixes\":[]},{\"firstnames\":[\"D\"],\"propositions\":[],\"lastnames\":[\"Wu\"],\"suffixes\":[]},{\"firstnames\":[\"R\"],\"propositions\":[],\"lastnames\":[\"Hussain\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Channel_Modeling,\\r\\ntitle = {Channel modeling and testing of wireless transmission for underground in-pipe leak and material loss detection},\\r\\nauthor = {S Mekid and D Wu and R Hussain and K Youcef-Toumi},\\r\\nurl = {https://doi.org/10.1177/1550147717744715},\\r\\ndoi = {10.1177/1550147717744715},\\r\\nissn = {1550147717744715},\\r\\nyear  = {2017},\\r\\ndate = {2017-01-01},\\r\\njournal = {International Journal of Distributed Sensor Networks},\\r\\nvolume = {13},\\r\\nnumber = {11},\\r\\npages = {1550147717744715},\\r\\npublisher = {Sage},\\r\\nabstract = {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.},\\r\\nkeywords = {Fabrication, Inspection, Inspection; repair and intelligence for water distribution pipes, Instrumentation, Mechatronic Design, Nanotechnology, Physical System Modeling},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Mekid, S\",\"Wu, D\",\"Hussain, R\",\"Youcef-Toumi, K\"],\"key\":\"MRL_AFM_Channel_Modeling\",\"id\":\"MRL_AFM_Channel_Modeling\",\"bibbaseid\":\"mekid-wu-hussain-youceftoumi-channelmodelingandtestingofwirelesstransmissionforundergroundinpipeleakandmateriallossdetection-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1177/1550147717744715\"},\"keyword\":[\"Fabrication\",\"Inspection\",\"Inspection; repair and intelligence for water distribution pipes\",\"Instrumentation\",\"Mechatronic Design\",\"Nanotechnology\",\"Physical System Modeling\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles\",\"author\":[{\"firstnames\":[\"Taha\"],\"propositions\":[],\"lastnames\":[\"Elmokadem\"],\"suffixes\":[]},{\"firstnames\":[\"Mohamed\"],\"propositions\":[],\"lastnames\":[\"Zribi\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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 &amp; Automation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Terminal_Trajectory_Tracking,\\r\\ntitle = {Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles},\\r\\nauthor = {Taha Elmokadem and Mohamed Zribi and Kamal Youcef-Toumi},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S0029801816304759},\\r\\ndoi = {https://doi.org/10.1016/j.oceaneng.2016.10.032},\\r\\nissn = {0029-8018},\\r\\nyear  = {2016},\\r\\ndate = {2016-11-06},\\r\\njournal = {Ocean Engineering},\\r\\nvolume = {129},\\r\\npages = {613-625},\\r\\npublisher = {elsevier},\\r\\nabstract = {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.},\\r\\nkeywords = {Computer vision for autonomous vehicle sensing, Instrumentation, Mechatronic Design, Physical System Modeling, Robotics &amp; Automation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Elmokadem, T.\",\"Zribi, M.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Terminal_Trajectory_Tracking\",\"id\":\"MRL_AFM_Terminal_Trajectory_Tracking\",\"bibbaseid\":\"elmokadem-zribi-youceftoumi-terminalslidingmodecontrolforthetrajectorytrackingofunderactuatedautonomousunderwatervehicles-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S0029801816304759\"},\"keyword\":[\"Computer vision for autonomous vehicle sensing\",\"Instrumentation\",\"Mechatronic Design\",\"Physical System Modeling\",\"Robotics &amp; Automation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Demand side management in power grid enterprise control: A comparison of industrial & social welfare approaches\",\"author\":[{\"firstnames\":[\"Bo\"],\"propositions\":[],\"lastnames\":[\"Jiang\"],\"suffixes\":[]},{\"firstnames\":[\"Aramazd\"],\"propositions\":[],\"lastnames\":[\"Muzhikyan\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://www.sciencedirect.com/science/article/pii/S0306261916315410\",\"doi\":\"https://doi.org/10.1016/j.apenergy.2016.10.096\",\"issn\":\"0306-2619\",\"year\":\"2016\",\"date\":\"2016-10-25\",\"journal\":\"Applied Energy\",\"volume\":\"187\",\"pages\":\"833-846\",\"publisher\":\"ScienceDirect\",\"abstract\":\"Despite the recognized importance of demand side management (DSM) for mitigating the impact of variable energy resources and reducing the system costs, the academic and industrial literature have taken divergent approaches to DSM implementation. The prequel to this paper has demonstrated that the netload baseline inflation – a feature particular to the industrial DSM unit commitment formulation – leads to higher and costlier day-ahead scheduling compared to the academic social welfare method. This paper now expands this analysis from a single optimization problem to the full power grid enterprise control with its multiple control layers at their associated time scales. These include unit commitment, economic dispatch and regulation services. It compares the two DSM formulations and quantifies the technical and economic impacts of industrial baseline errors in the day-ahead and real-time markets. The paper concludes that the presence of baseline errors – present only in the industrial model – leads to a cascade of additional system imbalances and costs as compared to the social welfare model. A baseline error introduced in the unit commitment problem will increase costs not just in the day-ahead market, but will also introduce a greater netload error residual in the real-time market causing additional cost and imbalances. These imbalances if left unmitigated degrade system reliability or otherwise require costly regulating reserves to achieve the same performance. An additional baseline error introduced in the economic dispatch further compounds this cascading effect with additional costs in the real-time market, amplified downstream imbalances, and further regulation capacity for its mitigation.\",\"keywords\":\"Algorithms, Control Theory, Experimentation, Robot operated modular fixtures, Robotics &amp; Automation, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Comparison_Industrial_Social_Welfare,\\r\\ntitle = {Demand side management in power grid enterprise control: A comparison of industrial & social welfare approaches},\\r\\nauthor = {Bo Jiang and Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S0306261916315410},\\r\\ndoi = {https://doi.org/10.1016/j.apenergy.2016.10.096},\\r\\nissn = {0306-2619},\\r\\nyear  = {2016},\\r\\ndate = {2016-10-25},\\r\\njournal = {Applied Energy},\\r\\nvolume = {187},\\r\\npages = {833-846},\\r\\npublisher = {ScienceDirect},\\r\\nabstract = {Despite the recognized importance of demand side management (DSM) for mitigating the impact of variable energy resources and reducing the system costs, the academic and industrial literature have taken divergent approaches to DSM implementation. The prequel to this paper has demonstrated that the netload baseline inflation – a feature particular to the industrial DSM unit commitment formulation – leads to higher and costlier day-ahead scheduling compared to the academic social welfare method. This paper now expands this analysis from a single optimization problem to the full power grid enterprise control with its multiple control layers at their associated time scales. These include unit commitment, economic dispatch and regulation services. It compares the two DSM formulations and quantifies the technical and economic impacts of industrial baseline errors in the day-ahead and real-time markets. The paper concludes that the presence of baseline errors – present only in the industrial model – leads to a cascade of additional system imbalances and costs as compared to the social welfare model. A baseline error introduced in the unit commitment problem will increase costs not just in the day-ahead market, but will also introduce a greater netload error residual in the real-time market causing additional cost and imbalances. These imbalances if left unmitigated degrade system reliability or otherwise require costly regulating reserves to achieve the same performance. An additional baseline error introduced in the economic dispatch further compounds this cascading effect with additional costs in the real-time market, amplified downstream imbalances, and further regulation capacity for its mitigation.},\\r\\nkeywords = {Algorithms, Control Theory, Experimentation, Robot operated modular fixtures, Robotics &amp; Automation, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Jiang, B.\",\"Muzhikyan, A.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Comparison_Industrial_Social_Welfare\",\"id\":\"MRL_AFM_Comparison_Industrial_Social_Welfare\",\"bibbaseid\":\"jiang-muzhikyan-farid-youceftoumi-demandsidemanagementinpowergridenterprisecontrolacomparisonofindustrialsocialwelfareapproaches-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S0306261916315410\"},\"keyword\":[\"Algorithms\",\"Control Theory\",\"Experimentation\",\"Robot operated modular fixtures\",\"Robotics &amp; Automation\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Characterization of Environmental Dust in the Dammam Area and Mud After-Effects on Bisphenol-A Polycarbonate Sheets\",\"author\":[{\"firstnames\":[\"Bekir\"],\"propositions\":[],\"lastnames\":[\"Yilbas\"],\"suffixes\":[]},{\"firstnames\":[\"Haider\"],\"propositions\":[],\"lastnames\":[\"Ali\"],\"suffixes\":[]},{\"firstnames\":[\"Naseer\"],\"propositions\":[],\"lastnames\":[\"Al-Aqeeli\"],\"suffixes\":[]},{\"firstnames\":[\"Mazen\"],\"propositions\":[],\"lastnames\":[\"Khaled\"],\"suffixes\":[]},{\"firstnames\":[\"Syed\"],\"propositions\":[],\"lastnames\":[\"Said\"],\"suffixes\":[]},{\"firstnames\":[\"Abu\",\"Dheir\"],\"propositions\":[],\"lastnames\":[\"N\"],\"suffixes\":[]},{\"firstnames\":[\"Necar\"],\"propositions\":[],\"lastnames\":[\"Merah\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Kripa\"],\"propositions\":[],\"lastnames\":[\"Varanasi\"],\"suffixes\":[]}],\"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 &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Environmental_Dust,\\r\\ntitle = {Characterization of Environmental Dust in the Dammam Area and Mud After-Effects on Bisphenol-A Polycarbonate Sheets},\\r\\nauthor = {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},\\r\\ndoi = {10.1038/srep24308},\\r\\nissn = {24308},\\r\\nyear  = {2016},\\r\\ndate = {2016-04-16},\\r\\njournal = {Scientific Reports},\\r\\nvolume = {6},\\r\\npages = {24308},\\r\\npublisher = {Nature},\\r\\nabstract = {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.},\\r\\nkeywords = {Data-driven learning for intelligent machine maintenance, Mechatronic Design, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Yilbas, B.\",\"Ali, H.\",\"Al-Aqeeli, N.\",\"Khaled, M.\",\"Said, S.\",\"N, A. D.\",\"Merah, N.\",\"Youcef-Toumi, K.\",\"Varanasi, K.\"],\"key\":\"MRL_AFM_Environmental_Dust\",\"id\":\"MRL_AFM_Environmental_Dust\",\"bibbaseid\":\"yilbas-ali-alaqeeli-khaled-said-n-merah-youceftoumi-etal-characterizationofenvironmentaldustinthedammamareaandmudaftereffectsonbisphenolapolycarbonatesheets-2016\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Data-driven learning for intelligent machine maintenance\",\"Mechatronic Design\",\"Physical System Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging\",\"author\":[{\"firstnames\":[\"Iman\",\"Soltani\"],\"propositions\":[],\"lastnames\":[\"Bozchalooi\"],\"suffixes\":[]},{\"firstnames\":[\"Andrew\",\"Careaga\"],\"propositions\":[],\"lastnames\":[\"Houck\"],\"suffixes\":[]},{\"firstnames\":[\"Jwaher\",\"M.\"],\"propositions\":[],\"lastnames\":[\"AlGhamdi\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_LRHS_imaging,\\r\\ntitle = {Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging},\\r\\nauthor = {Iman Soltani Bozchalooi and Andrew Careaga Houck and Jwaher M. AlGhamdi and Kamal Youcef-Toumi},\\r\\nurl = {http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c},\\r\\ndoi = {https://doi.org/10.1016/j.ultramic.2015.10.016},\\r\\nissn = {0304-3991},\\r\\nyear  = {2016},\\r\\ndate = {2016-01-01},\\r\\nvolume = {160},\\r\\npages = {213 - 224},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Bozchalooi, I. S.\",\"Houck, A. C.\",\"AlGhamdi, J. M.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_LRHS_imaging\",\"id\":\"MRL_AFM_LRHS_imaging\",\"bibbaseid\":\"bozchalooi-houck-alghamdi-youceftoumi-designandcontrolofmultiactuatedatomicforcemicroscopeforlargerangeandhighspeedimaging-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"Fabrication\",\"Instrumentation\",\"Mechatronic Design\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Relative merits of load following reserves & energy storage market integration towards power system imbalances\",\"author\":[{\"firstnames\":[\"Aramazd\"],\"propositions\":[],\"lastnames\":[\"Muzhikyan\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://www.sciencedirect.com/science/article/pii/S0142061515002999\",\"doi\":\"https://doi.org/10.1016/j.ijepes.2015.07.013\",\"issn\":\"0142-0615\",\"year\":\"2016\",\"date\":\"2016-01-01\",\"journal\":\"International Journal of Electrical Power & Energy Systems\",\"volume\":\"74\",\"pages\":\"222-229\",\"publisher\":\"ScienceDirect\",\"abstract\":\"Traditionally, power system balancing operations consist of three consecutive control techniques, namely security-constrained unit commitment (SCUC), security-constrained economic dispatch (SCED), and automatic generation control (AGC). Each of these have their corresponding type of operating reserves. Similarly, energy storage resources (ESRs) may be integrated as energy, load following, or regulation resources. A review of the existing literature shows that most ESR integration studies are focused on a single control function. In contrast, recent work on renewable energy integration has employed the concept of enterprise control where the multiple layers of balancing operations have been integrated into a single model. This paper now uses such an enterprise control model to demonstrate the relative merits of load following reserves and energy storage integrated into the resource scheduling and balancing action layers. The results show that load following reserves and energy storage resources mitigate imbalances in fundamentally different ways. The latter becomes an increasingly effective balancing resource for high net-load variability and small day-ahead market time step.\",\"keywords\":\"Control Theory, intelligent systems, Modeling; sizing and control for smart grids, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_Market_Integration_Power_System,\\r\\ntitle = {Relative merits of load following reserves & energy storage market integration towards power system imbalances},\\r\\nauthor = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S0142061515002999},\\r\\ndoi = {https://doi.org/10.1016/j.ijepes.2015.07.013},\\r\\nissn = {0142-0615},\\r\\nyear  = {2016},\\r\\ndate = {2016-01-01},\\r\\njournal = {International Journal of Electrical Power & Energy Systems},\\r\\nvolume = {74},\\r\\npages = {222-229},\\r\\npublisher = {ScienceDirect},\\r\\nabstract = {Traditionally, power system balancing operations consist of three consecutive control techniques, namely security-constrained unit commitment (SCUC), security-constrained economic dispatch (SCED), and automatic generation control (AGC). Each of these have their corresponding type of operating reserves. Similarly, energy storage resources (ESRs) may be integrated as energy, load following, or regulation resources. A review of the existing literature shows that most ESR integration studies are focused on a single control function. In contrast, recent work on renewable energy integration has employed the concept of enterprise control where the multiple layers of balancing operations have been integrated into a single model. This paper now uses such an enterprise control model to demonstrate the relative merits of load following reserves and energy storage integrated into the resource scheduling and balancing action layers. The results show that load following reserves and energy storage resources mitigate imbalances in fundamentally different ways. The latter becomes an increasingly effective balancing resource for high net-load variability and small day-ahead market time step.},\\r\\nkeywords = {Control Theory, intelligent systems, Modeling; sizing and control for smart grids, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Muzhikyan, A.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_Market_Integration_Power_System\",\"id\":\"MRL_Market_Integration_Power_System\",\"bibbaseid\":\"muzhikyan-farid-youceftoumi-relativemeritsofloadfollowingreservesenergystoragemarketintegrationtowardspowersystemimbalances-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S0142061515002999\"},\"keyword\":[\"Control Theory\",\"intelligent systems\",\"Modeling; sizing and control for smart grids\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Design of a maneuverable swimming robot for in-pipe missions\",\"author\":[{\"firstnames\":[\"You\"],\"propositions\":[],\"lastnames\":[\"Wu\"],\"suffixes\":[]},{\"firstnames\":[\"Antoine\"],\"propositions\":[],\"lastnames\":[\"Noel\"],\"suffixes\":[]},{\"firstnames\":[\"David\",\"Donghyun\"],\"propositions\":[],\"lastnames\":[\"Kim\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_WDP_In_Pipe_Missions,\\r\\ntitle = {Design of a maneuverable swimming robot for in-pipe missions},\\r\\nauthor = {You Wu and Antoine Noel and David Donghyun Kim and Kamal Youcef-Toumi and Rached Ben-Mansour},\\r\\nurl = {https://ieeexplore.ieee.org/document/7354061},\\r\\ndoi = {10.1109/IROS.2015.7354061},\\r\\nisbn = {978-1-4799-9994-1},\\r\\nyear  = {2015},\\r\\ndate = {2015-12-17},\\r\\nbooktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\\r\\npages = {4864-4871},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Experimentation, Inspection; repair and intelligence for water distribution pipes, intelligent systems, Physical System Modeling, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Wu, Y.\",\"Noel, A.\",\"Kim, D. D.\",\"Youcef-Toumi, K.\",\"Ben-Mansour, R.\"],\"key\":\"MRL_WDP_In_Pipe_Missions\",\"id\":\"MRL_WDP_In_Pipe_Missions\",\"bibbaseid\":\"wu-noel-kim-youceftoumi-benmansour-designofamaneuverableswimmingrobotforinpipemissions-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/7354061\"},\"keyword\":[\"Experimentation\",\"Inspection; repair and intelligence for water distribution pipes\",\"intelligent systems\",\"Physical System Modeling\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"The need for holistic enterprise control assessment methods for the future electricity grid\",\"author\":[{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Bo\"],\"propositions\":[],\"lastnames\":[\"Jiang\"],\"suffixes\":[]},{\"firstnames\":[\"Aramazd\"],\"propositions\":[],\"lastnames\":[\"Muzhikyan\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Holistic_Assessment_Electricity_Grid,\\r\\ntitle = {The need for holistic enterprise control assessment methods for the future electricity grid},\\r\\nauthor = {Amro M Farid and Bo Jiang and Aramazd Muzhikyan and Kamal Youcef-Toumi},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S1364032115012599},\\r\\ndoi = {https://doi.org/10.1016/j.rser.2015.11.007},\\r\\nissn = {1364-0321},\\r\\nyear  = {2015},\\r\\ndate = {2015-12-17},\\r\\njournal = {Renewable and Sustainable Energy Reviews},\\r\\nvolume = {56},\\r\\npages = {669-685},\\r\\npublisher = {elsevier},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Farid, A. M\",\"Jiang, B.\",\"Muzhikyan, A.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Holistic_Assessment_Electricity_Grid\",\"id\":\"MRL_AFM_Holistic_Assessment_Electricity_Grid\",\"bibbaseid\":\"farid-jiang-muzhikyan-youceftoumi-theneedforholisticenterprisecontrolassessmentmethodsforthefutureelectricitygrid-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S1364032115012599\"},\"keyword\":[\"Algorithms\",\"Control Theory\",\"Experimentation\",\"intelligent systems\",\"Modeling; sizing and control for smart grids\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Surface and wetting characteristics of textured bisphenol-A based polycarbonate surfaces: Acetone-induced crystallization texturing methods\",\"author\":[{\"firstnames\":[\"Ahmed\"],\"propositions\":[],\"lastnames\":[\"Owais\"],\"suffixes\":[]},{\"firstnames\":[\"Mazen\",\"M\"],\"propositions\":[],\"lastnames\":[\"Khaled\"],\"suffixes\":[]},{\"firstnames\":[\"Bekir\",\"S\"],\"propositions\":[],\"lastnames\":[\"Yilbas\"],\"suffixes\":[]},{\"firstnames\":[\"Numan\"],\"propositions\":[],\"lastnames\":[\"Abu-Dheir\"],\"suffixes\":[]},{\"firstnames\":[\"Kripa\",\"K\"],\"propositions\":[],\"lastnames\":[\"Varanasi\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\",\"Y\"],\"propositions\":[],\"lastnames\":[\"Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Surface_Wetting_Poly_Surfaces,\\r\\ntitle = {Surface and wetting characteristics of textured bisphenol-A based polycarbonate surfaces: Acetone-induced crystallization texturing methods},\\r\\nauthor = {Ahmed Owais and Mazen M Khaled and Bekir S Yilbas and Numan Abu-Dheir and Kripa K Varanasi and Kamal Y Toumi},\\r\\nurl = {https://onlinelibrary.wiley.com/doi/abs/10.1002/app.43074},\\r\\ndoi = {https://doi.org/10.1002/app.43074},\\r\\nissn = {43074},\\r\\nyear  = {2015},\\r\\ndate = {2015-11-12},\\r\\njournal = {Journal of Applied Polymer Science},\\r\\nvolume = {133},\\r\\nnumber = {14},\\r\\npublisher = {Wiley},\\r\\nabstract = {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.},\\r\\nkeywords = {Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Owais, A.\",\"Khaled, M. M\",\"Yilbas, B. S\",\"Abu-Dheir, N.\",\"Varanasi, K. K\",\"Toumi, K. Y\"],\"key\":\"MRL_AFM_Surface_Wetting_Poly_Surfaces\",\"id\":\"MRL_AFM_Surface_Wetting_Poly_Surfaces\",\"bibbaseid\":\"owais-khaled-yilbas-abudheir-varanasi-toumi-surfaceandwettingcharacteristicsoftexturedbisphenolabasedpolycarbonatesurfacesacetoneinducedcrystallizationtexturingmethods-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://onlinelibrary.wiley.com/doi/abs/10.1002/app.43074\"},\"keyword\":[\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Impacts of Industrial Baseline Errors on Costs and Social Welfare in the Demand Side Management of Day-Ahead Wholesale Markets\",\"author\":[{\"firstnames\":[\"Bo\"],\"propositions\":[],\"lastnames\":[\"Jiang\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_WDP_Pipe_Leak_Repair,\\r\\ntitle = {Impacts of Industrial Baseline Errors on Costs and Social Welfare in the Demand Side Management of Day-Ahead Wholesale Markets},\\r\\nauthor = {Bo Jiang and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://asmedigitalcollection.asme.org/ES/proceedings/ES2015/56857/V002T12A003/230063},\\r\\ndoi = {https://doi.org/10.1115/ES2015-49459},\\r\\nissn = {1558-3783},\\r\\nyear  = {2015},\\r\\ndate = {2015-10-27},\\r\\nbooktitle = {ASME 2015 13th International Conference on Fuel Cell Science, Engineering and Technology, and the ASME 2015 Nuclear Forum},\\r\\njournal = {IEEE Transactions on Automation Science and Engineering},\\r\\nvolume = {15},\\r\\nnumber = {4},\\r\\npages = {7390-7395},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {Demand Side Management (DSM},\\r\\nkeywords = {Control Theory, Experimentation, Nanotechnology, Physical System Modeling, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Jiang, B.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_WDP_Pipe_Leak_Repair\",\"id\":\"MRL_WDP_Pipe_Leak_Repair\",\"bibbaseid\":\"jiang-farid-youceftoumi-impactsofindustrialbaselineerrorsoncostsandsocialwelfareinthedemandsidemanagementofdayaheadwholesalemarkets-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/ES/proceedings/ES2015/56857/V002T12A003/230063\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A comparison of day-ahead wholesale market: Social welfare vs industrial demand side management\",\"author\":[{\"firstnames\":[\"Bo\"],\"propositions\":[],\"lastnames\":[\"Jiang\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_UEC_Welfare_vs_DSM,\\r\\ntitle = {A comparison of day-ahead wholesale market: Social welfare vs industrial demand side management},\\r\\nauthor = {Bo Jiang and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/abstract/document/7125502?section=abstract},\\r\\ndoi = {10.1109/ICIT.2015.7125502},\\r\\nisbn = {978-1-4799-7800-7},\\r\\nyear  = {2015},\\r\\ndate = {2015-06-18},\\r\\nbooktitle = {2015 IEEE International Conference on Industrial Technology (ICIT)},\\r\\npages = {2742-2749},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Jiang, B.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_UEC_Welfare_vs_DSM\",\"id\":\"MRL_UEC_Welfare_vs_DSM\",\"bibbaseid\":\"jiang-farid-youceftoumi-acomparisonofdayaheadwholesalemarketsocialwelfarevsindustrialdemandsidemanagement-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/abstract/document/7125502?section=abstract\"},\"keyword\":[\"Algorithms\",\"intelligent systems\",\"Physical System Modeling\",\"Simulation\",\"Uncertainty estimation and calibration for modeling\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Multi-eigenmode control for high material contrast in bimodal and higher harmonic atomic force microscopy\",\"author\":[{\"firstnames\":[\"Andreas\"],\"propositions\":[],\"lastnames\":[\"Schuh\"],\"suffixes\":[]},{\"firstnames\":[\"Iman\",\"Soltani\"],\"propositions\":[],\"lastnames\":[\"Bozchalooi\"],\"suffixes\":[]},{\"firstnames\":[\"Ivo\",\"W\"],\"propositions\":[],\"lastnames\":[\"Rangelow\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_Multi_Eigenmode,\\r\\ntitle = {Multi-eigenmode control for high material contrast in bimodal and higher harmonic atomic force microscopy},\\r\\nauthor = {Andreas Schuh and Iman Soltani Bozchalooi and Ivo W Rangelow and Kamal Youcef-Toumi},\\r\\nurl = {https://doi.org/10.1088/0957-4484/26/23/235706},\\r\\ndoi = {10.1088/0957-4484/26/23/235706},\\r\\nyear  = {2015},\\r\\ndate = {2015-05-01},\\r\\njournal = {Nanotechnology},\\r\\nvolume = {26},\\r\\nnumber = {23},\\r\\npages = {235706},\\r\\npublisher = {IOP Publishing},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Schuh, A.\",\"Bozchalooi, I. S.\",\"Rangelow, I. W\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_Multi_Eigenmode\",\"id\":\"MRL_Multi_Eigenmode\",\"bibbaseid\":\"schuh-bozchalooi-rangelow-youceftoumi-multieigenmodecontrolforhighmaterialcontrastinbimodalandhigherharmonicatomicforcemicroscopy-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1088/0957-4484/26/23/235706\"},\"keyword\":[\"Algorithms\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Aggrecan Nanoscale Solid–Fluid Interactions Are a Primary Determinant of Cartilage Dynamic Mechanical Properties\",\"author\":[{\"firstnames\":[\"Hadi\"],\"propositions\":[],\"lastnames\":[\"Nia\"],\"suffixes\":[]},{\"firstnames\":[\"Lin\"],\"propositions\":[],\"lastnames\":[\"Han\"],\"suffixes\":[]},{\"firstnames\":[\"Iman\"],\"propositions\":[],\"lastnames\":[\"Soltani\"],\"suffixes\":[]},{\"firstnames\":[\"Peter\"],\"propositions\":[],\"lastnames\":[\"Roughley\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Alan\"],\"propositions\":[],\"lastnames\":[\"Grodzinsky\"],\"suffixes\":[]},{\"firstnames\":[\"Christine\"],\"propositions\":[],\"lastnames\":[\"Ortiz\"],\"suffixes\":[]}],\"doi\":\"10.1021/nn5062707\",\"issn\":\"2614-2625\",\"year\":\"2015\",\"date\":\"2015-03-10\",\"journal\":\"ACS nano\",\"volume\":\"9\",\"publisher\":\"ACS\",\"abstract\":\"Poroelastic interactions between interstitial fluid and the extracellular matrix of connective tissues are critical to biological and pathophysiological functions involving solute transport, energy dissipation, self-stiffening and lubrication. However, the molecular origins of poroelasticity at the nanoscale are largely unknown. Here, the broad-spectrum dynamic nanomechanical behavior of cartilage aggrecan monolayer is revealed for the first time, including the equilibrium and instantaneous moduli and the peak in the phase angle of the complex modulus. By performing a length scale study and comparing the experimental results to theoretical predictions, we confirm that the mechanism underlying the observed dynamic nanomechanics is due to solid\\u0001fluid interactions (poroelasticity) at the molecular scale. Utilizing finite element modeling, the molecular-scale hydraulic permeability of the aggrecan assembly was quantified (kaggrecan = (4.8 ( 2.8) 10\\u000115 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\",\"bibtex\":\"@article{MRL_AFM_Agreecan_Nanoscale_Solid,\\r\\ntitle = {Aggrecan Nanoscale Solid–Fluid Interactions Are a Primary Determinant of Cartilage Dynamic Mechanical Properties},\\r\\nauthor = {Hadi Nia and Lin Han and Iman Soltani and Peter Roughley and Kamal Youcef-Toumi and Alan Grodzinsky and Christine Ortiz},\\r\\ndoi = {10.1021/nn5062707},\\r\\nissn = {2614-2625},\\r\\nyear  = {2015},\\r\\ndate = {2015-03-10},\\r\\njournal = {ACS nano},\\r\\nvolume = {9},\\r\\npublisher = {ACS},\\r\\nabstract = {Poroelastic interactions between interstitial fluid and the extracellular \\r\\nmatrix of connective tissues are critical to biological and pathophysiological functions \\r\\ninvolving solute transport, energy dissipation, self-stiffening and lubrication. However, \\r\\nthe molecular origins of poroelasticity at the nanoscale are largely unknown. Here, the \\r\\nbroad-spectrum dynamic nanomechanical behavior of cartilage aggrecan monolayer is \\r\\nrevealed for the first time, including the equilibrium and instantaneous moduli and the \\r\\npeak in the phase angle of the complex modulus. By performing a length scale study \\r\\nand comparing the experimental results to theoretical predictions, we confirm that the \\r\\nmechanism underlying the observed dynamic nanomechanics is due to solid\\u0001fluid \\r\\ninteractions (poroelasticity) at the molecular scale. Utilizing finite element modeling, the molecular-scale hydraulic permeability of the aggrecan assembly was quantified (kaggrecan = (4.8 ( 2.8) 10\\u000115 m4 \\r\\n/N 3 s) and found to be similar to the nanoscale hydraulic permeability of intact normal cartilage tissue \\r\\nbut much lower than that of early diseased tissue. The mechanisms underlying aggrecan poroelasticity were further investigated by altering electrostatic \\r\\ninteractions between the molecule's constituent glycosaminoglycan chains: electrostatic interactions dominated steric interactions in governing molecular \\r\\nbehavior. While the hydraulic permeability of aggrecan layers does not change across species and age, aggrecan from adult human cartilage is stiffer than \\r\\nthe aggrecan from newborn human tissue.},\\r\\nkeywords = {Experimentation, Fabrication, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Nia, H.\",\"Han, L.\",\"Soltani, I.\",\"Roughley, P.\",\"Youcef-Toumi, K.\",\"Grodzinsky, A.\",\"Ortiz, C.\"],\"key\":\"MRL_AFM_Agreecan_Nanoscale_Solid\",\"id\":\"MRL_AFM_Agreecan_Nanoscale_Solid\",\"bibbaseid\":\"nia-han-soltani-roughley-youceftoumi-grodzinsky-ortiz-aggrecannanoscalesolidfluidinteractionsareaprimarydeterminantofcartilagedynamicmechanicalproperties-2015\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Experimentation\",\"Fabrication\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Rapid prototyping of PVS into FPGA: From model based design to FPGA/ASICs implementation\",\"author\":[{\"firstnames\":[\"Sabrina\"],\"propositions\":[],\"lastnames\":[\"Titri\"],\"suffixes\":[]},{\"firstnames\":[\"Cherif\"],\"propositions\":[],\"lastnames\":[\"Larbes\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_SG_PVS_MPPT_Optimization,\\r\\ntitle = {Rapid prototyping of PVS into FPGA: From model based design to FPGA/ASICs implementation},\\r\\nauthor = {Sabrina Titri and Cherif Larbes and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/7038606},\\r\\ndoi = {10.1109/IDT.2014.7038606},\\r\\nisbn = {978-1-4799-8200-4},\\r\\nyear  = {2015},\\r\\ndate = {2015-02-15},\\r\\nbooktitle = {2014 9th International Design and Test Symposium (IDT)},\\r\\npages = {162-167},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Titri, S.\",\"Larbes, C.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_PVS_MPPT_Optimization\",\"id\":\"MRL_SG_PVS_MPPT_Optimization\",\"bibbaseid\":\"titri-larbes-youceftoumi-rapidprototypingofpvsintofpgafrommodelbaseddesigntofpgaasicsimplementation-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/7038606\"},\"keyword\":[\"Algorithms\",\"intelligent systems\",\"Modeling; sizing and control for smart grids\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers\",\"author\":[{\"firstnames\":[\"Amith\"],\"propositions\":[],\"lastnames\":[\"Somanath\"],\"suffixes\":[]},{\"firstnames\":[\"Sertac\"],\"propositions\":[],\"lastnames\":[\"Karaman\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AVS_Robotic_Wildfire_Control,\\r\\ntitle = {Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers},\\r\\nauthor = {Amith Somanath and Sertac Karaman and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/7039602},\\r\\ndoi = {10.1109/CDC.2014.7039602},\\r\\nisbn = {978-1-4673-6090-6},\\r\\nyear  = {2015},\\r\\ndate = {2015-02-15},\\r\\nbooktitle = {53rd IEEE Conference on Decision and Control},\\r\\npages = {1432-1437},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Computer vision for autonomous vehicle sensing, intelligent systems, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Somanath, A.\",\"Karaman, S.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AVS_Robotic_Wildfire_Control\",\"id\":\"MRL_AVS_Robotic_Wildfire_Control\",\"bibbaseid\":\"somanath-karaman-youceftoumi-controllingstochasticgrowthprocessesonlatticeswildfiremanagementwithroboticfireextinguishers-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/7039602\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Computer vision for autonomous vehicle sensing\",\"intelligent systems\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A power grid enterprise control method for energy storage system integration\",\"author\":[{\"firstnames\":[\"Aramazd\"],\"propositions\":[],\"lastnames\":[\"Muzhikyan\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_SG_Grid_Enterprise_Control,\\r\\ntitle = {A power grid enterprise control method for energy storage system integration},\\r\\nauthor = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/7028898},\\r\\ndoi = {10.1109/ISGTEurope.2014.7028898},\\r\\nisbn = {978-1-4799-7720-8},\\r\\nyear  = {2015},\\r\\ndate = {2015-02-02},\\r\\nbooktitle = {IEEE PES Innovative Smart Grid Technologies, Europe},\\r\\npages = {1-6},\\r\\nabstract = {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.},\\r\\nkeywords = {intelligent systems, Modeling; sizing and control of smart grids, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Muzhikyan, A.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Grid_Enterprise_Control\",\"id\":\"MRL_SG_Grid_Enterprise_Control\",\"bibbaseid\":\"muzhikyan-farid-youceftoumi-apowergridenterprisecontrolmethodforenergystoragesystemintegration-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/7028898\"},\"keyword\":[\"intelligent systems\",\"Modeling; sizing and control of smart grids\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"An Enterprise Control Assessment Method for Variable Energy Resource-Induced Power System Imbalances—Part II: Parametric Sensitivity Analysis\",\"author\":[{\"firstnames\":[\"A\"],\"propositions\":[],\"lastnames\":[\"Muzhikyan\"],\"suffixes\":[]},{\"firstnames\":[\"A\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/document/7018074?denied=\",\"doi\":\"10.1109/TIE.2015.2395380\",\"issn\":\"1557-9948\",\"year\":\"2015\",\"date\":\"2015-01-22\",\"journal\":\"IEEE Transactions on Industrial Electronics\",\"volume\":\"62\",\"number\":\"4\",\"pages\":\"2459-2467\",\"publisher\":\"IEEE\",\"abstract\":\"In recent years, renewable energy has developed to address energy security and climate change drivers. However, as energy resources, they possess a variable and uncertain nature that significantly complicates grid balancing operations. As a result, an extensive academic and industrial literature has developed to determine how much such variable energy resources (VERs) may be integrated and how to best mitigate their impacts. While certainly insightful with the context of their application, many integration studies have methodological limitations because they are case specific, address a single control function of the power grid balancing operations, and are often not validated by simulation. The prequel to this paper presented a holistic method for the assessment of power grid imbalances induced by VERs based upon the concept of enterprise control. This paper now systematically studies these power grid imbalances in terms of five independent variables: 1) day-ahead market time step; 2) real-time market time step; 3) VER normalized variability; 4) normalized day-ahead VER forecast error; and 5) normalized short-term VER forecast error. The systematic study elucidates the impacts of these variables and provides significant insights as to how planners should address these independent variables in the future.\",\"keywords\":\"Algorithms, Control Theory, intelligent systems, Modeling, Simulation, sizing and control of smart grids\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Enterprise_Control_Assessment,\\r\\ntitle = {An Enterprise Control Assessment Method for Variable Energy Resource-Induced Power System Imbalances—Part II: Parametric Sensitivity Analysis},\\r\\nauthor = {A Muzhikyan and A M Farid and K Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/7018074?denied=},\\r\\ndoi = {10.1109/TIE.2015.2395380},\\r\\nissn = {1557-9948},\\r\\nyear  = {2015},\\r\\ndate = {2015-01-22},\\r\\njournal = {IEEE Transactions on Industrial Electronics},\\r\\nvolume = {62},\\r\\nnumber = {4},\\r\\npages = {2459-2467},\\r\\npublisher = {IEEE},\\r\\nabstract = {In recent years, renewable energy has developed to address energy security and climate change drivers. However, as energy resources, they possess a variable and uncertain nature that significantly complicates grid balancing operations. As a result, an extensive academic and industrial literature has developed to determine how much such variable energy resources (VERs) may be integrated and how to best mitigate their impacts. While certainly insightful with the context of their application, many integration studies have methodological limitations because they are case specific, address a single control function of the power grid balancing operations, and are often not validated by simulation. The prequel to this paper presented a holistic method for the assessment of power grid imbalances induced by VERs based upon the concept of enterprise control. This paper now systematically studies these power grid imbalances in terms of five independent variables: 1) day-ahead market time step; 2) real-time market time step; 3) VER normalized variability; 4) normalized day-ahead VER forecast error; and 5) normalized short-term VER forecast error. The systematic study elucidates the impacts of these variables and provides significant insights as to how planners should address these independent variables in the future.},\\r\\nkeywords = {Algorithms, Control Theory, intelligent systems, Modeling, Simulation, sizing and control of smart grids},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Muzhikyan, A\",\"Farid, A M\",\"Youcef-Toumi, K\"],\"key\":\"MRL_AFM_Enterprise_Control_Assessment\",\"id\":\"MRL_AFM_Enterprise_Control_Assessment\",\"bibbaseid\":\"muzhikyan-farid-youceftoumi-anenterprisecontrolassessmentmethodforvariableenergyresourceinducedpowersystemimbalancespartiiparametricsensitivityanalysis-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/7018074?denied=\"},\"keyword\":[\"Algorithms\",\"Control Theory\",\"intelligent systems\",\"Modeling\",\"Simulation\",\"sizing and control of smart grids\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"RIM Propeller for Micro Autonomous Underwater Vehicles\",\"author\":[{\"firstnames\":[\"David\",\"Donghyun\"],\"propositions\":[],\"lastnames\":[\"Kim\"],\"suffixes\":[]},{\"firstnames\":[\"You\"],\"propositions\":[],\"lastnames\":[\"Wu\"],\"suffixes\":[]},{\"firstnames\":[\"Antoine\"],\"propositions\":[],\"lastnames\":[\"Noel\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AVS_AUV_RIM_Control,\\r\\ntitle = {RIM Propeller for Micro Autonomous Underwater Vehicles},\\r\\nauthor = {David Donghyun Kim and You Wu and Antoine Noel and Kamal Youcef-Toumi},\\r\\nurl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T44A005/229722},\\r\\ndoi = {10.1115/DSCC2014-6282},\\r\\nisbn = {978-0-7918-4620-9},\\r\\nyear  = {2014},\\r\\ndate = {2014-12-19},\\r\\nbooktitle = {ASME 2014 Dynamic Systems and Control Conference},\\r\\npublisher = {ASME},\\r\\norganization = {ASME},\\r\\nabstract = {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.},\\r\\nkeywords = {Computer vision for autonomous vehicle sensing, Control Theory, Experimentation, Fabrication, intelligent systems, Mechatronic Design, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Kim, D. D.\",\"Wu, Y.\",\"Noel, A.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AVS_AUV_RIM_Control\",\"id\":\"MRL_AVS_AUV_RIM_Control\",\"bibbaseid\":\"kim-wu-noel-youceftoumi-rimpropellerformicroautonomousunderwatervehicles-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T44A005/229722\"},\"keyword\":[\"Computer vision for autonomous vehicle sensing\",\"Control Theory\",\"Experimentation\",\"Fabrication\",\"intelligent systems\",\"Mechatronic Design\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Noise and control decoupling of Advanced LIGO suspensions\",\"author\":[{\"firstnames\":[\"B\",\"N\"],\"propositions\":[],\"lastnames\":[\"Shapiro\"],\"suffixes\":[]},{\"firstnames\":[\"R\"],\"propositions\":[],\"lastnames\":[\"Adhikari\"],\"suffixes\":[]},{\"firstnames\":[\"J\"],\"propositions\":[],\"lastnames\":[\"Driggers\"],\"suffixes\":[]},{\"firstnames\":[\"J\"],\"propositions\":[],\"lastnames\":[\"Kissel\"],\"suffixes\":[]},{\"firstnames\":[\"B\"],\"propositions\":[],\"lastnames\":[\"Lantz\"],\"suffixes\":[]},{\"firstnames\":[\"J\"],\"propositions\":[],\"lastnames\":[\"Rollins\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Noise_Control_Decoupling,\\r\\ntitle = {Noise and control decoupling of Advanced LIGO suspensions},\\r\\nauthor = {B N Shapiro and R Adhikari and J Driggers and J Kissel and B Lantz and J Rollins and K Youcef-Toumi},\\r\\nurl = {https://doi.org/10.1088/0264-9381/32/1/015004},\\r\\ndoi = {10.1088/0264-9381/32/1/015004},\\r\\nyear  = {2014},\\r\\ndate = {2014-12-10},\\r\\njournal = {Classical and Quantum Gravity},\\r\\nvolume = {32},\\r\\nnumber = {1},\\r\\npages = {015004},\\r\\npublisher = {IOP Publishing},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Shapiro, B N\",\"Adhikari, R\",\"Driggers, J\",\"Kissel, J\",\"Lantz, B\",\"Rollins, J\",\"Youcef-Toumi, K\"],\"key\":\"MRL_AFM_Noise_Control_Decoupling\",\"id\":\"MRL_AFM_Noise_Control_Decoupling\",\"bibbaseid\":\"shapiro-adhikari-driggers-kissel-lantz-rollins-youceftoumi-noiseandcontroldecouplingofadvancedligosuspensions-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1088/0264-9381/32/1/015004\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"intelligent systems\",\"Physical System Modeling\",\"Simulation\",\"Uncertainty estimation and calibration for modeling\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Event triggered state estimation techniques for power systems with integrated variable energy resources\",\"author\":[{\"firstnames\":[\"Reshma\",\"C\"],\"propositions\":[],\"lastnames\":[\"Francy\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_State_Estimation_Power,\\r\\ntitle = {Event triggered state estimation techniques for power systems with integrated variable energy resources},\\r\\nauthor = {Reshma C Francy and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://doi.org/10.1016/j.isatra.2014.11.001},\\r\\ndoi = {10.1016/j.isatra.2014.11.001},\\r\\nissn = {0019-0578},\\r\\nyear  = {2014},\\r\\ndate = {2014-11-24},\\r\\njournal = {ISA transactions},\\r\\nvolume = {56},\\r\\npages = {165—172},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Francy, R. C\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_State_Estimation_Power\",\"id\":\"MRL_AFM_State_Estimation_Power\",\"bibbaseid\":\"francy-farid-youceftoumi-eventtriggeredstateestimationtechniquesforpowersystemswithintegratedvariableenergyresources-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1016/j.isatra.2014.11.001\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"intelligent systems\",\"Modeling; sizing and control for smart grids\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"An Integrated Energy and Water Market for the Supply Side of the Energy-Water Nexus in the Engineered Infrastructure\",\"author\":[{\"firstnames\":[\"William\"],\"propositions\":[],\"lastnames\":[\"Lubega\"],\"suffixes\":[]},{\"firstnames\":[\"Apoorva\"],\"propositions\":[],\"lastnames\":[\"Santhosh\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_SG_Integrated_Electric_Water,\\r\\ntitle = {An Integrated Energy and Water Market for the Supply Side of the Energy-Water Nexus in the Engineered Infrastructure},\\r\\nauthor = {William Lubega and Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://asmedigitalcollection.asme.org/POWER/proceedings/POWER2014/46094/V002T10A003/282270},\\r\\ndoi = {10.1115/POWER2014-32075},\\r\\nisbn = {978-0-7918-4609-4},\\r\\nyear  = {2014},\\r\\ndate = {2014-11-19},\\r\\nbooktitle = {ASME 2014 Power Conference},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Lubega, W.\",\"Santhosh, A.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Integrated_Electric_Water\",\"id\":\"MRL_SG_Integrated_Electric_Water\",\"bibbaseid\":\"lubega-santhosh-farid-youceftoumi-anintegratedenergyandwatermarketforthesupplysideoftheenergywaternexusintheengineeredinfrastructure-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/POWER/proceedings/POWER2014/46094/V002T10A003/282270\"},\"keyword\":[\"Algorithms\",\"intelligent systems\",\"Modeling; sizing and control for smart grids\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"MIT Leak Detector: An in-pipe leak detection robot\",\"author\":[{\"firstnames\":[\"Dimitris\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"You\"],\"propositions\":[],\"lastnames\":[\"Wu\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/document/6907144\",\"doi\":\"10.1109/ICRA.2014.6907144\",\"isbn\":\"978-1-4799-3685-4\",\"year\":\"2014\",\"date\":\"2014-09-24\",\"booktitle\":\"2014 IEEE International Conference on Robotics and Automation (ICRA)\",\"pages\":\"2091-2091\",\"publisher\":\"IEEE\",\"organization\":\"IEEE\",\"abstract\":\"In this work we present a new in-pipe leak detection robot, the MIT Leak Detector. The system performs autonomous leak detection in gas pipes in a reliable and robust fashion. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. As the MIT Leak Detector travels through pipes, it picks up the pressure gradient in case of leaks via a carefully designed detector. In this work we demonstrate the performance of the system in a lab setup, which consists of 100mm ID pipes containing pressurized air.\",\"keywords\":\"Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Leak_Detecting_Robot,\\r\\ntitle = {MIT Leak Detector: An in-pipe leak detection robot},\\r\\nauthor = {Dimitris Chatzigeorgiou and You Wu and Kamal Youcef-Toumi and Rached Ben-Mansour},\\r\\nurl = {https://ieeexplore.ieee.org/document/6907144},\\r\\ndoi = {10.1109/ICRA.2014.6907144},\\r\\nisbn = {978-1-4799-3685-4},\\r\\nyear  = {2014},\\r\\ndate = {2014-09-24},\\r\\nbooktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},\\r\\npages = {2091-2091},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {In this work we present a new in-pipe leak detection robot, the MIT Leak Detector. The system performs autonomous leak detection in gas pipes in a reliable and robust fashion. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. As the MIT Leak Detector travels through pipes, it picks up the pressure gradient in case of leaks via a carefully designed detector. In this work we demonstrate the performance of the system in a lab setup, which consists of 100mm ID pipes containing pressurized air.},\\r\\nkeywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Chatzigeorgiou, D.\",\"Wu, Y.\",\"Youcef-Toumi, K.\",\"Ben-Mansour, R.\"],\"key\":\"MRL_WDP_Leak_Detecting_Robot\",\"id\":\"MRL_WDP_Leak_Detecting_Robot\",\"bibbaseid\":\"chatzigeorgiou-wu-youceftoumi-benmansour-mitleakdetectoraninpipeleakdetectionrobot-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6907144\"},\"keyword\":[\"Inspection; repair and intelligence for water distribution pipes\",\"Physical Systems Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Modeling and analysis of an in-pipe robotic leak detector\",\"author\":[{\"firstnames\":[\"Dimitris\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/abstract/document/6907341\",\"doi\":\"10.1109/ICRA.2014.6907341\",\"isbn\":\"978-1-4799-3685-4\",\"year\":\"2014\",\"date\":\"2014-09-24\",\"booktitle\":\"2014 IEEE International Conference on Robotics and Automation (ICRA)\",\"pages\":\"3351-3357\",\"publisher\":\"IEEE\",\"abstract\":\"Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.\",\"keywords\":\"Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Analysis_Leak_Detection,\\r\\ntitle = {Modeling and analysis of an in-pipe robotic leak detector},\\r\\nauthor = {Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Rached Ben-Mansour},\\r\\nurl = {https://ieeexplore.ieee.org/abstract/document/6907341},\\r\\ndoi = {10.1109/ICRA.2014.6907341},\\r\\nisbn = {978-1-4799-3685-4},\\r\\nyear  = {2014},\\r\\ndate = {2014-09-24},\\r\\nbooktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},\\r\\npages = {3351-3357},\\r\\npublisher = {IEEE},\\r\\nabstract = {Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.},\\r\\nkeywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Chatzigeorgiou, D.\",\"Youcef-Toumi, K.\",\"Ben-Mansour, R.\"],\"key\":\"MRL_WDP_Analysis_Leak_Detection\",\"id\":\"MRL_WDP_Analysis_Leak_Detection\",\"bibbaseid\":\"chatzigeorgiou-youceftoumi-benmansour-modelingandanalysisofaninpiperoboticleakdetector-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/abstract/document/6907341\"},\"keyword\":[\"Inspection; repair and intelligence for water distribution pipes\",\"Physical Systems Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Detection estimation algorithms for in-pipe leak detection\",\"author\":[{\"firstnames\":[\"Dimitris\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_WDP_Estimation_Algorithms,\\r\\ntitle = {Detection estimation algorithms for in-pipe leak detection},\\r\\nauthor = {Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Rached Ben-Mansour},\\r\\nurl = {https://ieeexplore.ieee.org/document/6859203},\\r\\ndoi = {10.1109/ACC.2014.6859203},\\r\\nisbn = {978-1-4799-3274-0},\\r\\nyear  = {2014},\\r\\ndate = {2014-07-21},\\r\\nbooktitle = {2014 American Control Conference},\\r\\npages = {5508-5514},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Control Theory, Experimentation, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics and Automation, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Chatzigeorgiou, D.\",\"Youcef-Toumi, K.\",\"Ben-Mansour, R.\"],\"key\":\"MRL_WDP_Estimation_Algorithms\",\"id\":\"MRL_WDP_Estimation_Algorithms\",\"bibbaseid\":\"chatzigeorgiou-youceftoumi-benmansour-detectionestimationalgorithmsforinpipeleakdetection-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6859203\"},\"keyword\":[\"Algorithms\",\"Control Theory\",\"Experimentation\",\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics and Automation\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Control design for division and compensation with application to high-speed/large-range nano-positioning\",\"author\":[{\"firstnames\":[\"Soltani\",\"I\"],\"propositions\":[],\"lastnames\":[\"Bozchalooi\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AFM_Nano_Positioning_Control,\\r\\ntitle = {Control design for division and compensation with application to high-speed/large-range nano-positioning},\\r\\nauthor = {Soltani I Bozchalooi and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/6859262},\\r\\ndoi = {10.1109/ACC.2014.6859262},\\r\\nisbn = {978-1-4799-3274-0},\\r\\nyear  = {2014},\\r\\ndate = {2014-07-21},\\r\\nbooktitle = {2014 American Control Conference},\\r\\npages = {1643-1648},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Bozchalooi, S. I\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Nano_Positioning_Control\",\"id\":\"MRL_AFM_Nano_Positioning_Control\",\"bibbaseid\":\"bozchalooi-youceftoumi-controldesignfordivisionandcompensationwithapplicationtohighspeedlargerangenanopositioning-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6859262\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"An enhanced method for the determination of load following reserves\",\"author\":[{\"firstnames\":[\"Aramazd\"],\"propositions\":[],\"lastnames\":[\"Muzhikyan\"],\"suffixes\":[]},{\"firstnames\":[\"A\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6859254&isnumber=6858556\",\"doi\":\"10.1109/ACC.2014.6859254\",\"isbn\":\"978-1-4799-3274-0\",\"year\":\"2014\",\"date\":\"2014-07-21\",\"booktitle\":\"2014 American Control Conference\",\"pages\":\"926-933\",\"publisher\":\"IEEE\",\"organization\":\"IEEE\",\"abstract\":\"Power generation reserves play a central role for maintaining the balance of generation and consumption. Reserves, scheduled in advance, compensate for forecast error, variability and transmission losses. However, as reserves are a costly commodity, their amount should be carefully assessed to prevent unnecessary expense. Currently, the quantity of required reserves are determined based upon a posteriori methods that use operator's experience and established assumptions. This paper instead presents a method founded upon non-dimensional numbers and digitial signal processing to determine the quantity of load following reserves a priori.\",\"keywords\":\"intelligent systems, Modeling; sizing and control of smart grids, Physical Systems Modeling, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_SG_Reserve_Quantification,\\r\\ntitle = {An enhanced method for the determination of load following reserves},\\r\\nauthor = {Aramazd Muzhikyan and A M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6859254&isnumber=6858556},\\r\\ndoi = {10.1109/ACC.2014.6859254},\\r\\nisbn = {978-1-4799-3274-0},\\r\\nyear  = {2014},\\r\\ndate = {2014-07-21},\\r\\nbooktitle = {2014 American Control Conference},\\r\\npages = {926-933},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {Power generation reserves play a central role for maintaining the balance of generation and consumption. Reserves, scheduled in advance, compensate for forecast error, variability and transmission losses. However, as reserves are a costly commodity, their amount should be carefully assessed to prevent unnecessary expense. Currently, the quantity of required reserves are determined based upon a posteriori methods that use operator's experience and established assumptions. This paper instead presents a method founded upon non-dimensional numbers and digitial signal processing to determine the quantity of load following reserves a priori.},\\r\\nkeywords = {intelligent systems, Modeling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Muzhikyan, A.\",\"Farid, A M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Reserve_Quantification\",\"id\":\"MRL_SG_Reserve_Quantification\",\"bibbaseid\":\"muzhikyan-farid-youceftoumi-anenhancedmethodforthedeterminationofloadfollowingreserves-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6859254&isnumber=6858556\"},\"keyword\":[\"intelligent systems\",\"Modeling; sizing and control of smart grids\",\"Physical Systems Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Analysis and control of a thermal management system for robots in temperature-restricted environments\",\"author\":[{\"firstnames\":[\"Ethan\",\"B\"],\"propositions\":[],\"lastnames\":[\"Heller\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_DDL_Thermal_Robot_Management,\\r\\ntitle = {Analysis and control of a thermal management system for robots in temperature-restricted environments},\\r\\nauthor = {Ethan B Heller and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6858774&isnumber=6858556},\\r\\ndoi = {10.1109/ACC.2014.6858774},\\r\\nisbn = {978-1-4799-3274-0},\\r\\nyear  = {2014},\\r\\ndate = {2014-06-01},\\r\\nbooktitle = {2014 American Control Conference},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Data-driven learning for intelligent machine maintenance, intelligent systems, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Heller, E. B\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_DDL_Thermal_Robot_Management\",\"id\":\"MRL_DDL_Thermal_Robot_Management\",\"bibbaseid\":\"heller-youceftoumi-analysisandcontrolofathermalmanagementsystemforrobotsintemperaturerestrictedenvironments-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6858774&isnumber=6858556\"},\"keyword\":[\"Control Theory\",\"Data-driven learning for intelligent machine maintenance\",\"intelligent systems\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Real-time economic dispatch for the supply side of the energy-water nexus\",\"author\":[{\"firstnames\":[\"Apoorva\"],\"propositions\":[],\"lastnames\":[\"Santhosh\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"doi\":\"10.1016/j.apenergy.2014.01.062\",\"year\":\"2014\",\"date\":\"2014-06-01\",\"journal\":\"Applied Energy\",\"volume\":\"122\",\"pages\":\"42–52\",\"publisher\":\"researchgate\",\"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. Traditionally, the infrastructure systems that deliver these precious commodities, the water distribution and power transmission networks are thought of as separate, uncoupled systems. However, in reality, they are very much coupled in what is commonly known as the energy-water nexus. Although this subject has recently caught the attention of numerous policy and regulatory agencies, 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 fills this gap by addressing the supply side of this integrated engineering system. Specifically, it develops the multi-plant real-time simultaneous economic dispatch of power and water. While significant background literature has addressed traditional power dispatch, and the emerging co-dispatch of power and heat, as of now there does not exist a parameterized model for the optimized dispatch of power and water for multiple power, water, and coproduction facilities. The work presents such a model where production costs are minimized subject to capacity, demand and process constraints. It is demonstrated on an illustrative example of modest size. Interesting results were observed suggesting that the coproduction minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. 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, Computational Intelligence, Control Theory, Data-driven learning for intelligent machine maintenance, intelligent systems, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Economic_Energy_Water_Nexus,\\r\\ntitle = {Real-time economic dispatch for the supply side of the energy-water nexus},\\r\\nauthor = {Apoorva Santhosh and Amro Farid and Kamal Youcef-Toumi},\\r\\ndoi = {10.1016/j.apenergy.2014.01.062},\\r\\nyear  = {2014},\\r\\ndate = {2014-06-01},\\r\\njournal = {Applied Energy},\\r\\nvolume = {122},\\r\\npages = {42–52},\\r\\npublisher = {researchgate},\\r\\nabstract = {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. Traditionally, the infrastructure systems that deliver these precious commodities, the water distribution and power transmission networks are thought of as separate, uncoupled systems. However, in reality, they are very much coupled in what is commonly known as the energy-water nexus. Although this subject has recently caught the attention of numerous policy and regulatory agencies, 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 fills this gap by addressing the supply side of this integrated engineering system. Specifically, it develops the multi-plant real-time simultaneous economic dispatch of power and water. While significant background literature has addressed traditional power dispatch, and the emerging co-dispatch of power and heat, as of now there does not exist a parameterized model for the optimized dispatch of power and water for multiple power, water, and coproduction facilities. The work presents such a model where production costs are minimized subject to capacity, demand and process constraints. It is demonstrated on an illustrative example of modest size. Interesting results were observed suggesting that the coproduction minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. 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.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Control Theory, Data-driven learning for intelligent machine maintenance, intelligent systems, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Santhosh, A.\",\"Farid, A.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Economic_Energy_Water_Nexus\",\"id\":\"MRL_AFM_Economic_Energy_Water_Nexus\",\"bibbaseid\":\"santhosh-farid-youceftoumi-realtimeeconomicdispatchforthesupplysideoftheenergywaternexus-2014\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Control Theory\",\"Data-driven learning for intelligent machine maintenance\",\"intelligent systems\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A multi-agent system transient stability platform for resilient self-healing operation of multiple microgrids\",\"author\":[{\"firstnames\":[\"Sergio\"],\"propositions\":[],\"lastnames\":[\"Rivera\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_SG_Multi_Agent_Micro_Grid,\\r\\ntitle = {A multi-agent system transient stability platform for resilient self-healing operation of multiple microgrids},\\r\\nauthor = {Sergio Rivera and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/6816377},\\r\\ndoi = {10.1109/ISGT.2014.6816377},\\r\\nisbn = {978-1-4799-3653-3},\\r\\nyear  = {2014},\\r\\ndate = {2014-05-19},\\r\\nbooktitle = {ISGT 2014},\\r\\npages = {1-5},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Computational Intelligence, intelligent systems, Modeling; Systems and Control of Smart Grids, Physical System Modeling, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Rivera, S.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Multi_Agent_Micro_Grid\",\"id\":\"MRL_SG_Multi_Agent_Micro_Grid\",\"bibbaseid\":\"rivera-farid-youceftoumi-amultiagentsystemtransientstabilityplatformforresilientselfhealingoperationofmultiplemicrogrids-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6816377\"},\"keyword\":[\"Computational Intelligence\",\"intelligent systems\",\"Modeling; Systems and Control of Smart Grids\",\"Physical System Modeling\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Design of a Novel In-Pipe Reliable Leak Detector\",\"author\":[{\"firstnames\":[\"D\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"R\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"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 &amp; intelligence for water distribution pipes, Robotics &amp; Automation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Leak_Detector,\\r\\ntitle = {Design of a Novel In-Pipe Reliable Leak Detector},\\r\\nauthor = {D Chatzigeorgiou and K Youcef-Toumi and R Ben-Mansour},\\r\\nurl = {https://ieeexplore.ieee.org/document/6778062?arnumber=6778062},\\r\\ndoi = {10.1109/TMECH.2014.2308145},\\r\\nissn = {1941-014X},\\r\\nyear  = {2014},\\r\\ndate = {2014-03-25},\\r\\njournal = {IEEE/ASME Transactions on Mechatronics},\\r\\nvolume = {20},\\r\\nnumber = {2},\\r\\npages = {824-833},\\r\\npublisher = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, Inspection, Physical System Modeling, repair &amp; intelligence for water distribution pipes, Robotics &amp; Automation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Chatzigeorgiou, D\",\"Youcef-Toumi, K\",\"Ben-Mansour, R\"],\"key\":\"MRL_AFM_Leak_Detector\",\"id\":\"MRL_AFM_Leak_Detector\",\"bibbaseid\":\"chatzigeorgiou-youceftoumi-benmansour-designofanovelinpipereliableleakdetector-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6778062?arnumber=6778062\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"Inspection\",\"Physical System Modeling\",\"repair &amp; intelligence for water distribution pipes\",\"Robotics &amp; Automation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Channel-Aware Relay Node Placement in Wireless Sensor Networks for Pipeline Inspection\",\"author\":[{\"firstnames\":[\"Dalei\"],\"propositions\":[],\"lastnames\":[\"Wu\"],\"suffixes\":[]},{\"firstnames\":[\"Dimitris\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Samir\"],\"propositions\":[],\"lastnames\":[\"Mekid\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"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 &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Node_Pipeline_Inspection,\\r\\ntitle = {Channel-Aware Relay Node Placement in Wireless Sensor Networks for Pipeline Inspection},\\r\\nauthor = {Dalei Wu and Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Samir Mekid and Rached Ben-Mansour},\\r\\nurl = {https://www.researchgate.net/publication/261282962_Channel-Aware_Relay_Node_Placement_in_Wireless_Sensor_Networks_for_Pipeline_Inspection},\\r\\ndoi = {10.1109/TWC.2014.2314120},\\r\\nissn = {1536-1276},\\r\\nyear  = {2014},\\r\\ndate = {2014-03-24},\\r\\nbooktitle = {Proceedings of the American Control Conference (2013)},\\r\\npublisher = {ACC},\\r\\norganization = {ACC},\\r\\nabstract = {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.},\\r\\nkeywords = {Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Wu, D.\",\"Chatzigeorgiou, D.\",\"Youcef-Toumi, K.\",\"Mekid, S.\",\"Ben-Mansour, R.\"],\"key\":\"MRL_WDP_Node_Pipeline_Inspection\",\"id\":\"MRL_WDP_Node_Pipeline_Inspection\",\"bibbaseid\":\"wu-chatzigeorgiou-youceftoumi-mekid-benmansour-channelawarerelaynodeplacementinwirelesssensornetworksforpipelineinspection-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.researchgate.net/publication/261282962_Channel-Aware_Relay_Node_Placement_in_Wireless_Sensor_Networks_for_Pipeline_Inspection\"},\"keyword\":[\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Optimal network flow for the supply side of the energy-water nexus\",\"author\":[{\"firstnames\":[\"Apoorva\"],\"propositions\":[],\"lastnames\":[\"Santhosh\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_SG_Water_Plant_Sustainability,\\r\\ntitle = {Optimal network flow for the supply side of the energy-water nexus},\\r\\nauthor = {Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/6698578},\\r\\ndoi = {10.1109/IWIES.2013.6698578},\\r\\nisbn = {978-1-4799-1135-6},\\r\\nyear  = {2014},\\r\\ndate = {2014-01-06},\\r\\nbooktitle = {2013 IEEE International Workshop on Inteligent Energy Systems (IWIES)},\\r\\npages = {155-160},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Santhosh, A.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Water_Plant_Sustainability\",\"id\":\"MRL_SG_Water_Plant_Sustainability\",\"bibbaseid\":\"santhosh-farid-youceftoumi-optimalnetworkflowforthesupplysideoftheenergywaternexus-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6698578\"},\"keyword\":[\"Algorithms\",\"intelligent systems\",\"Modeling; sizing and control for smart grids\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy\",\"author\":[{\"firstnames\":[\"Iman\",\"Soltani\"],\"propositions\":[],\"lastnames\":[\"Bozchalooi\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Multi_PI_control,\\r\\ntitle = {Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy},\\r\\nauthor = {Iman Soltani Bozchalooi and Kamal Youcef-Toumi},\\r\\nurl = {http://www.sciencedirect.com/science/article/pii/S0304399114001491},\\r\\ndoi = {https://doi.org/10.1016/j.ultramic.2014.07.010},\\r\\nissn = {0304-3991},\\r\\nyear  = {2014},\\r\\ndate = {2014-01-01},\\r\\njournal = {Ültramicroscopy},\\r\\nvolume = {146},\\r\\npages = {117 - 124},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Bozchalooi, I. S.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Multi_PI_control\",\"id\":\"MRL_AFM_Multi_PI_control\",\"bibbaseid\":\"bozchalooi-youceftoumi-multiactuationandpicontrolasimplerecipeforhighspeedandlargerangeatomicforcemicroscopy-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.sciencedirect.com/science/article/pii/S0304399114001491\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"Instrumentation\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"An event triggered tracking state estimator for power systems with integrated wind generation\",\"author\":[{\"firstnames\":[\"Reshma\"],\"propositions\":[],\"lastnames\":[\"Francy\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/document/6617292\",\"doi\":\"10.1109/PTC.2013.6652180\",\"isbn\":\"978-1-4673-5669-5\",\"year\":\"2013\",\"date\":\"2013-11-04\",\"booktitle\":\"2013 IEEE Grenoble Conference\",\"pages\":\"1-6\",\"publisher\":\"IEEE\",\"organization\":\"IEEE\",\"abstract\":\"For many decades, state estimation has been a critical technology in the energy management systems utilized by transmission 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 such as wind and solar generation, however, introduce new dynamics and uncertainties into the system. Along with increase in variability which needs real time monitoring, state estimation will be extended to the distribution networks which increase the size of the problem. Conventional solutions to this problem result in large problem sets being solved at a faster rate thereby becoming computationally intensive. This work builds upon the recent contribution of event-triggering where the state estimator is only called in the case of considerable “novelty” in the evolution of the system state. Specifically, the concept of tracking saves significant computational effort at minimal expense of error by allowing for the update of system state between two consecutive triggered instances. The new event-triggered tracking state estimator (ETTSE) is demonstrated on the standard IEEE 14-bus system, and the results are observed for a specific bus.\",\"keywords\":\"intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_SG_Wind_Energy_Integration,\\r\\ntitle = {An event triggered tracking state estimator for power systems with integrated wind generation},\\r\\nauthor = {Reshma Francy and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/6617292},\\r\\ndoi = {10.1109/PTC.2013.6652180},\\r\\nisbn = {978-1-4673-5669-5},\\r\\nyear  = {2013},\\r\\ndate = {2013-11-04},\\r\\nbooktitle = {2013 IEEE Grenoble Conference},\\r\\npages = {1-6},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {For many decades, state estimation has been a critical technology in the energy management systems utilized by transmission 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 such as wind and solar generation, however, introduce new dynamics and uncertainties into the system. Along with increase in variability which needs real time monitoring, state estimation will be extended to the distribution networks which increase the size of the problem. Conventional solutions to this problem result in large problem sets being solved at a faster rate thereby becoming computationally intensive. This work builds upon the recent contribution of event-triggering where the state estimator is only called in the case of considerable “novelty” in the evolution of the system state. Specifically, the concept of tracking saves significant computational effort at minimal expense of error by allowing for the update of system state between two consecutive triggered instances. The new event-triggered tracking state estimator (ETTSE) is demonstrated on the standard IEEE 14-bus system, and the results are observed for a specific bus.},\\r\\nkeywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Francy, R.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Wind_Energy_Integration\",\"id\":\"MRL_SG_Wind_Energy_Integration\",\"bibbaseid\":\"francy-farid-youceftoumi-aneventtriggeredtrackingstateestimatorforpowersystemswithintegratedwindgeneration-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6617292\"},\"keyword\":[\"intelligent systems\",\"Modelling; sizing and control of smart grids\",\"Physical Systems Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Design and Evaluation of an In-Pipe Leak Detection Sensing Technique Based on Force Transduction\",\"author\":[{\"firstnames\":[\"Apoorva\"],\"propositions\":[],\"lastnames\":[\"Santhosh\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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 &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Force_Transduction_Leaking,\\r\\ntitle = {Design and Evaluation of an In-Pipe Leak Detection Sensing Technique Based on Force Transduction},\\r\\nauthor = {Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2012/45202/489/254570},\\r\\ndoi = {10.1115/IMECE2012-87493},\\r\\nisbn = {978-0-7918-4520-2},\\r\\nyear  = {2013},\\r\\ndate = {2013-10-08},\\r\\nbooktitle = {ASME 2012 International Mechanical Engineering Congress and Exposition},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Santhosh, A.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_WDP_Force_Transduction_Leaking\",\"id\":\"MRL_WDP_Force_Transduction_Leaking\",\"bibbaseid\":\"santhosh-farid-youceftoumi-designandevaluationofaninpipeleakdetectionsensingtechniquebasedonforcetransduction-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2012/45202/489/254570\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Variable energy resource induced power system imbalances: Mitigation by increased system flexibility, spinning reserves and regulation\",\"author\":[{\"firstnames\":[\"Aramazd\"],\"propositions\":[],\"lastnames\":[\"Muzhikyan\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_SG_Generalized_Reserve_Analysis,\\r\\ntitle = {Variable energy resource induced power system imbalances: Mitigation by increased system flexibility, spinning reserves and regulation},\\r\\nauthor = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/6617292},\\r\\ndoi = {10.1109/SusTech.2013.6617292},\\r\\nisbn = {978-1-4673-4630-6},\\r\\nyear  = {2013},\\r\\ndate = {2013-10-03},\\r\\nbooktitle = {2013 1st IEEE Conference on Technologies for Sustainability (SusTech)},\\r\\npages = {15-22},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Muzhikyan, A.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Generalized_Reserve_Analysis\",\"id\":\"MRL_SG_Generalized_Reserve_Analysis\",\"bibbaseid\":\"muzhikyan-farid-youceftoumi-variableenergyresourceinducedpowersystemimbalancesmitigationbyincreasedsystemflexibilityspinningreservesandregulation-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6617292\"},\"keyword\":[\"Algorithms\",\"intelligent systems\",\"Modeling; sizing and control for smart grids\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Simultaneous co-optimization for the economic dispatch of power and water networks\",\"author\":[{\"firstnames\":[\"Apoorva\"],\"propositions\":[],\"lastnames\":[\"Santhosh\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"A\"],\"propositions\":[],\"lastnames\":[\"Adegbege\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/document/6615058\",\"doi\":\"10.1049/cp.2012.2148\",\"isbn\":\"978-1-84919-743-4\",\"year\":\"2013\",\"date\":\"2013-09-30\",\"booktitle\":\"9th IET International Conference on Advances in Power System Control, Operation and Management (APSCOM 2012)\",\"pages\":\"1-6\",\"publisher\":\"IEEE\",\"organization\":\"IEEE\",\"abstract\":\"Water distribution and power transmission networks are thought of as separate uncoupled infrastructure systems. In reality, they may be viewed as a single system which may be called the energy-water nexus. In hot and arid climates, this nexus takes on a deeper meaning in terms of the economic dispatch of power, water and cogenerating desalination units. This paper represents a co-optimization framework for the economic dispatch of water and electric power. In particular, an optimization program is provided that minimizes total costs as a function of power and water generation subject to demand, capacity and process constraints. It is distinct from existing literature in that it focuses on the simultaneous optimal operation of all plants within the power and water delivery networks within a generalized mathematical formulation. The optimization was then demonstrated on a hypothetical system composed of four power plants, three cogenerators and one pure water plant. Interesting results were observed suggesting that the cogenerator minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. The program provides a systematic method of achieving optimal results and can serve as basis for set-points upon which individual plants can implement their optimal control.\",\"keywords\":\"\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_SG_Co_Optimization_Networks,\\r\\ntitle = {Simultaneous co-optimization for the economic dispatch of power and water networks},\\r\\nauthor = {Apoorva Santhosh and Amro M Farid and A Adegbege and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/6615058},\\r\\ndoi = {10.1049/cp.2012.2148},\\r\\nisbn = {978-1-84919-743-4},\\r\\nyear  = {2013},\\r\\ndate = {2013-09-30},\\r\\nbooktitle = {9th IET International Conference on Advances in Power System Control, Operation and Management (APSCOM 2012)},\\r\\npages = {1-6},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {Water distribution and power transmission networks are thought of as separate uncoupled infrastructure systems. In reality, they may be viewed as a single system which may be called the energy-water nexus. In hot and arid climates, this nexus takes on a deeper meaning in terms of the economic dispatch of power, water and cogenerating desalination units. This paper represents a co-optimization framework for the economic dispatch of water and electric power. In particular, an optimization program is provided that minimizes total costs as a function of power and water generation subject to demand, capacity and process constraints. It is distinct from existing literature in that it focuses on the simultaneous optimal operation of all plants within the power and water delivery networks within a generalized mathematical formulation. The optimization was then demonstrated on a hypothetical system composed of four power plants, three cogenerators and one pure water plant. Interesting results were observed suggesting that the cogenerator minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. The program provides a systematic method of achieving optimal results and can serve as basis for set-points upon which individual plants can implement their optimal control.},\\r\\nkeywords = {},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Santhosh, A.\",\"Farid, A. M\",\"Adegbege, A\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Co_Optimization_Networks\",\"id\":\"MRL_SG_Co_Optimization_Networks\",\"bibbaseid\":\"santhosh-farid-adegbege-youceftoumi-simultaneouscooptimizationfortheeconomicdispatchofpowerandwaternetworks-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6615058\"},\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Optimal coverage of an infrastructure network using sensors with distance-decaying sensing quality\",\"author\":[{\"firstnames\":[\"Ajay\"],\"propositions\":[],\"lastnames\":[\"Deshpande\"],\"suffixes\":[]},{\"firstnames\":[\"Sanjay\",\"E\"],\"propositions\":[],\"lastnames\":[\"Sarma\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Samir\"],\"propositions\":[],\"lastnames\":[\"Mekid\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Distance_Decaying_Sensors,\\r\\ntitle = {Optimal coverage of an infrastructure network using sensors with distance-decaying sensing quality},\\r\\nauthor = {Ajay Deshpande and Sanjay E Sarma and Kamal Youcef-Toumi and Samir Mekid},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S0005109813003774},\\r\\ndoi = {https://doi.org/10.1016/j.automatica.2013.07.029},\\r\\nissn = {0005-1098},\\r\\nyear  = {2013},\\r\\ndate = {2013-08-27},\\r\\njournal = {Automatica},\\r\\nvolume = {49},\\r\\nnumber = {11},\\r\\npages = {3351-3358},\\r\\npublisher = {elsevier},\\r\\nabstract = {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.},\\r\\nkeywords = {Experimentation, Fabrication, Instrumentation, Mechatronic Design, Modeling; sizing and control of smart grids, Physical System Modeling},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Deshpande, A.\",\"Sarma, S. E\",\"Youcef-Toumi, K.\",\"Mekid, S.\"],\"key\":\"MRL_AFM_Distance_Decaying_Sensors\",\"id\":\"MRL_AFM_Distance_Decaying_Sensors\",\"bibbaseid\":\"deshpande-sarma-youceftoumi-mekid-optimalcoverageofaninfrastructurenetworkusingsensorswithdistancedecayingsensingquality-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S0005109813003774\"},\"keyword\":[\"Experimentation\",\"Fabrication\",\"Instrumentation\",\"Mechatronic Design\",\"Modeling; sizing and control of smart grids\",\"Physical System Modeling\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"The impact of storage facilities on the simultaneous economic dispatch of power and water networks limited by ramping constraints\",\"author\":[{\"firstnames\":[\"A\"],\"propositions\":[],\"lastnames\":[\"Santhosh\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/document/6505794\",\"doi\":\"10.1109/ICIT.2013.6505794\",\"isbn\":\"978-1-4673-4569-9\",\"year\":\"2013\",\"date\":\"2013-04-23\",\"booktitle\":\"2013 IEEE International Conference on Industrial Technology (ICIT)\",\"pages\":\"922-927\",\"publisher\":\"IEEE\",\"organization\":\"IEEE\",\"abstract\":\"Recently, the production and consumption of energy and water resources and their potential coupling in what is often called the energy-water nexus has gained attention as an issue of global concern[1, 2]. Ultimately, a significant amount of water is required to produce energy and vice versa [2, 3]; motivating the need for co-optimization based approaches for the two resources. Recently, one such simultaneous co-optimization method has been contributed for the economic dispatch of networks that include water, power and co-production facilities [4]. That study showed that capacity and process constraints often limit total production cost. This paper seeks to add plant ramping behavior as potentially binding constraints and investigate the impact of water and storage facilities as a technology that can help alleviate binding constraints and lead to more levelized production and cost levels. The paper builds upon the optimization program provided in previous work [4] to develop two optimization programs with and without storage facilities and compares their respective results. Storage facilities are shown to reduce total operating costs and lead to more levelized daily production suggesting that they have an important role to play in the optimization of the energy-water nexus.\",\"keywords\":\"intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_SG_Water_Networks_Storage,\\r\\ntitle = {The impact of storage facilities on the simultaneous economic dispatch of power and water networks limited by ramping constraints},\\r\\nauthor = {A Santhosh and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/6505794},\\r\\ndoi = {10.1109/ICIT.2013.6505794},\\r\\nisbn = {978-1-4673-4569-9},\\r\\nyear  = {2013},\\r\\ndate = {2013-04-23},\\r\\nbooktitle = {2013 IEEE International Conference on Industrial Technology (ICIT)},\\r\\npages = {922-927},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {Recently, the production and consumption of energy and water resources and their potential coupling in what is often called the energy-water nexus has gained attention as an issue of global concern[1, 2]. Ultimately, a significant amount of water is required to produce energy and vice versa [2, 3]; motivating the need for co-optimization based approaches for the two resources. Recently, one such simultaneous co-optimization method has been contributed for the economic dispatch of networks that include water, power and co-production facilities [4]. That study showed that capacity and process constraints often limit total production cost. This paper seeks to add plant ramping behavior as potentially binding constraints and investigate the impact of water and storage facilities as a technology that can help alleviate binding constraints and lead to more levelized production and cost levels. The paper builds upon the optimization program provided in previous work [4] to develop two optimization programs with and without storage facilities and compares their respective results. Storage facilities are shown to reduce total operating costs and lead to more levelized daily production suggesting that they have an important role to play in the optimization of the energy-water nexus.},\\r\\nkeywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Santhosh, A\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Water_Networks_Storage\",\"id\":\"MRL_SG_Water_Networks_Storage\",\"bibbaseid\":\"santhosh-farid-youceftoumi-theimpactofstoragefacilitiesonthesimultaneouseconomicdispatchofpowerandwaternetworkslimitedbyrampingconstraints-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6505794\"},\"keyword\":[\"intelligent systems\",\"Modelling; sizing and control of smart grids\",\"Physical Systems Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"High-Bandwidth AFM-Based Rheology Reveals that Cartilage is Most Sensitive to High Loading Rates at Early Stages of Impairment\",\"author\":[{\"firstnames\":[\"Hadi\"],\"propositions\":[],\"lastnames\":[\"Nia\"],\"suffixes\":[]},{\"firstnames\":[\"Iman\"],\"propositions\":[],\"lastnames\":[\"Soltani\"],\"suffixes\":[]},{\"firstnames\":[\"Yang\"],\"propositions\":[],\"lastnames\":[\"Li\"],\"suffixes\":[]},{\"firstnames\":[\"Lin\"],\"propositions\":[],\"lastnames\":[\"Han\"],\"suffixes\":[]},{\"firstnames\":[\"Han-Hwa\"],\"propositions\":[],\"lastnames\":[\"Hung\"],\"suffixes\":[]},{\"firstnames\":[\"Eliot\"],\"propositions\":[],\"lastnames\":[\"Frank\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Christine\"],\"propositions\":[],\"lastnames\":[\"Ortiz\"],\"suffixes\":[]},{\"firstnames\":[\"Alan\"],\"propositions\":[],\"lastnames\":[\"Grodzinsky\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@article{MRL_AFM_Cartilage_Early_Impairment,\\r\\ntitle = {High-Bandwidth AFM-Based Rheology Reveals that Cartilage is Most Sensitive to High Loading Rates at Early Stages of Impairment},\\r\\nauthor = {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},\\r\\nurl = {https://dspace.mit.edu/handle/1721.1/92000},\\r\\ndoi = {10.1016/j.bpj.2013.02.048},\\r\\nissn = {00063496},\\r\\nyear  = {2013},\\r\\ndate = {2013-04-02},\\r\\njournal = {Biophysical journal},\\r\\nvolume = {104},\\r\\npages = {1529-37},\\r\\npublisher = {Elsevier B.V},\\r\\nabstract = {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.},\\r\\nkeywords = {Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Nia, H.\",\"Soltani, I.\",\"Li, Y.\",\"Han, L.\",\"Hung, H.\",\"Frank, E.\",\"Youcef-Toumi, K.\",\"Ortiz, C.\",\"Grodzinsky, A.\"],\"key\":\"MRL_AFM_Cartilage_Early_Impairment\",\"id\":\"MRL_AFM_Cartilage_Early_Impairment\",\"bibbaseid\":\"nia-soltani-li-han-hung-frank-youceftoumi-ortiz-etal-highbandwidthafmbasedrheologyrevealsthatcartilageismostsensitivetohighloadingratesatearlystagesofimpairment-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://dspace.mit.edu/handle/1721.1/92000\"},\"keyword\":[\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Reliable Sensing of Leaks in Pipelines\",\"author\":[{\"firstnames\":[\"Dimitris\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"You\"],\"propositions\":[],\"lastnames\":[\"Wu\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"url\":\"https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013\",\"isbn\":\"978-0-7918-5613-0\",\"year\":\"2013\",\"date\":\"2013-01-01\",\"booktitle\":\"AWWA Annual Conference and Exposition, 2014\",\"publisher\":\"ASME\",\"organization\":\"ASME\",\"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 user experience. In this work we present a new in-pipe leak detection system, PipeGuard. PipeGuard performs autonomous leak detection in pipes and, thus, eliminates the need for 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 have validated the concepts by building a prototype and evaluated its performance under real conditions in an experimental laboratory setup.\",\"keywords\":\"Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Reliable_Leak_Sensing,\\r\\ntitle = {Reliable Sensing of Leaks in Pipelines},\\r\\nauthor = {Dimitris Chatzigeorgiou and You Wu and Kamal Youcef-Toumi and Rached Ben-Mansour},\\r\\nurl = {https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013},\\r\\nisbn = {978-0-7918-5613-0},\\r\\nyear  = {2013},\\r\\ndate = {2013-01-01},\\r\\nbooktitle = {AWWA Annual Conference and Exposition, 2014},\\r\\npublisher = {ASME},\\r\\norganization = {ASME},\\r\\nabstract = {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 user experience. In this work we present a new in-pipe leak detection system, PipeGuard. PipeGuard performs autonomous leak detection in pipes and, thus, eliminates the need for 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 have validated the concepts by building a prototype and evaluated its performance under real conditions in an experimental laboratory setup.},\\r\\nkeywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Chatzigeorgiou, D.\",\"Wu, Y.\",\"Youcef-Toumi, K.\",\"Ben-Mansour, R.\"],\"key\":\"MRL_WDP_Reliable_Leak_Sensing\",\"id\":\"MRL_WDP_Reliable_Leak_Sensing\",\"bibbaseid\":\"chatzigeorgiou-wu-youceftoumi-benmansour-reliablesensingofleaksinpipelines-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013\"},\"keyword\":[\"Inspection; repair and intelligence for water distribution pipes\",\"Physical Systems Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Opportunities for Integrated Energy and Water Management in the GCC\",\"author\":[{\"firstnames\":[\"William\",\"N\"],\"propositions\":[],\"lastnames\":[\"Lubega\"],\"suffixes\":[]},{\"firstnames\":[\"Apoorva\"],\"propositions\":[],\"lastnames\":[\"Santhosh\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"http://amfarid.scripts.mit.edu/resources/Conferences/EWN-C36.pdf\",\"isbn\":\"978-1-4799-3685-4\",\"year\":\"2013\",\"date\":\"2013-01-01\",\"booktitle\":\"EU-GCC Renewable Energy Policy Experts' Workshop\",\"publisher\":\"Gulf Research Center\",\"abstract\":\"Electric power is required to produce, treat, distribute, and recycle water while water is required to generate and consume electricity. The goal of this position paper is to identify and motivate opportunities for the operations management and planning of the energy-water nexus. It proceeds in three parts. First, an exposition of the energy-water nexus especially as it applies to the GCC is given. This discussion focuses on the electric power system, the potable water distribution system, and the wastewater distribution system. Then, the paper shifts to opportunities in operations management where recent work in the Laboratory for Intelligent Integrated Networks of Engineering Systems has produced a number of optimization programs to support the deregulated operation of integrated energy-water markets. To highlight the viability of this idea, an energy-water nexus supply side economic dispatch is presented. Finally, the position paper shifts to discuss planning opportunities for the energy-water nexus for the sustainable development of water and energy resources. These include new methods that encourage renewable energy penetration and balance the portfolio of desalination technologies. It also includes integrated strategies for the design of water infrastructure to minimize embedded energy while reusing water of various qualities. The paper concludes with a description of opportunities for EUGCC collaboration to support the purpose of the workshop.\",\"keywords\":\"intelligent systems, Modeling; sizing and control of smart grids\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_SG_Integrated_Energy_Management,\\r\\ntitle = {Opportunities for Integrated Energy and Water Management in the GCC},\\r\\nauthor = {William N Lubega and Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {http://amfarid.scripts.mit.edu/resources/Conferences/EWN-C36.pdf},\\r\\nisbn = {978-1-4799-3685-4},\\r\\nyear  = {2013},\\r\\ndate = {2013-01-01},\\r\\nbooktitle = {EU-GCC Renewable Energy Policy Experts' Workshop},\\r\\npublisher = {Gulf Research Center},\\r\\nabstract = {Electric power is required to produce, treat, distribute, and recycle water while water is required to generate and consume electricity. The goal of this position paper is to identify and motivate opportunities for the operations management and planning of the energy-water nexus. It proceeds in three parts. First, an exposition of the energy-water nexus especially as it applies to the GCC is given. This discussion focuses on the electric power system, the potable water distribution system, and the wastewater distribution system. Then, the paper shifts to opportunities in operations management where recent work in the Laboratory for Intelligent Integrated Networks of Engineering Systems has produced a number of optimization programs to support the deregulated operation of integrated energy-water markets. To highlight the viability of this idea, an energy-water nexus supply side economic dispatch is presented. Finally, the position paper shifts to discuss planning opportunities for the energy-water nexus for the sustainable development of water and energy resources. These include new methods that encourage renewable energy penetration and balance the portfolio of desalination technologies. It also includes integrated strategies for the design of water infrastructure to minimize embedded energy while reusing water of various qualities. The paper concludes with a description of opportunities for EUGCC collaboration to support the purpose of the workshop.},\\r\\nkeywords = {intelligent systems, Modeling; sizing and control of smart grids},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Lubega, W. N\",\"Santhosh, A.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Integrated_Energy_Management\",\"id\":\"MRL_SG_Integrated_Energy_Management\",\"bibbaseid\":\"lubega-santhosh-farid-youceftoumi-opportunitiesforintegratedenergyandwatermanagementinthegcc-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://amfarid.scripts.mit.edu/resources/Conferences/EWN-C36.pdf\"},\"keyword\":[\"intelligent systems\",\"Modeling; sizing and control of smart grids\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Robot design for high flow liquid pipe networks\",\"author\":[{\"firstnames\":[\"Changrak\"],\"propositions\":[],\"lastnames\":[\"Choi\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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 &amp; Automation, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_High_Flow_Pipe_Robot,\\r\\ntitle = {Robot design for high flow liquid pipe networks},\\r\\nauthor = {Changrak Choi and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6696360&isnumber=6696319},\\r\\ndoi = {10.1109/IROS.2013.6696360},\\r\\nyear  = {2013},\\r\\ndate = {2013-01-01},\\r\\nbooktitle = {2013 IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS)},\\r\\npages = {246-251},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Experimentation, Fabrication, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Choi, C.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_WDP_High_Flow_Pipe_Robot\",\"id\":\"MRL_WDP_High_Flow_Pipe_Robot\",\"bibbaseid\":\"choi-youceftoumi-robotdesignforhighflowliquidpipenetworks-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6696360&isnumber=6696319\"},\"keyword\":[\"Experimentation\",\"Fabrication\",\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics &amp; Automation\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Coordination and Control of Multiple Microgrids Using Multi-Agent Systems\",\"author\":[{\"firstnames\":[\"Sergio\"],\"propositions\":[],\"lastnames\":[\"Rivera\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems\",\"doi\":\"10.1109/PTC.2013.6652180\",\"isbn\":\"978-1-4673-5669-5\",\"year\":\"2013\",\"date\":\"2013-01-01\",\"booktitle\":\"Energypath 2013: Our Global Sustainable Energy Future\",\"abstract\":\"As distributed renewable generation sources continue to be integrated into the power grid, the concept of Microgrids has gained traction. Here, the integration challenge is not just in the control of an individual Microgrid but also in their coordination. This short communication presents a novel approach to inter-Microgrid coordination and control based upon Multi-Agent systems. An architecture based upon physical agents is presented and is implemented on a dual platform of JADE (environment for developing agents) and Matlab-Matpower (power system analysis tool). The implementation is demonstrated for a reconfiguration scenario involving the preservation of vital loads. The work presents many opportunities for future developments in the domain of resilient self-healing power grids.\",\"keywords\":\"intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_SG_Multi_Microgrid_Coordination,\\r\\ntitle = {Coordination and Control of Multiple Microgrids Using Multi-Agent Systems},\\r\\nauthor = {Sergio Rivera and Amro Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems},\\r\\ndoi = {10.1109/PTC.2013.6652180},\\r\\nisbn = {978-1-4673-5669-5},\\r\\nyear  = {2013},\\r\\ndate = {2013-01-01},\\r\\nbooktitle = {Energypath 2013: Our Global Sustainable Energy Future},\\r\\nabstract = {As distributed renewable generation sources continue to be integrated into the power grid, the concept of Microgrids has gained traction. Here, the integration challenge is not just in the control of an individual Microgrid but also in their coordination. This short communication presents a novel approach to inter-Microgrid coordination and control based upon Multi-Agent systems. An architecture based upon physical agents is presented and is implemented on a dual platform of JADE (environment for developing agents) and Matlab-Matpower (power system analysis tool). The implementation is demonstrated for a reconfiguration scenario involving the preservation of vital loads. The work presents many opportunities for future developments in the domain of resilient self-healing power grids.},\\r\\nkeywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Rivera, S.\",\"Farid, A.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Multi_Microgrid_Coordination\",\"id\":\"MRL_SG_Multi_Microgrid_Coordination\",\"bibbaseid\":\"rivera-farid-youceftoumi-coordinationandcontrolofmultiplemicrogridsusingmultiagentsystems-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems\"},\"keyword\":[\"intelligent systems\",\"Modelling; sizing and control of smart grids\",\"Physical Systems Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Transient Stability of Power Systems with Different Configurations for Wind Power Integration\",\"author\":[{\"firstnames\":[\"Hussein\",\"M\"],\"propositions\":[],\"lastnames\":[\"Abdelhalim\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Ambrose\",\"A\"],\"propositions\":[],\"lastnames\":[\"Adegbege\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6497903&isnumber=6497783&tag=1\",\"doi\":\"10.1109/ISGT.2013.6497903\",\"year\":\"2013\",\"date\":\"2013-01-01\",\"booktitle\":\"Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES\",\"abstract\":\"Previous transient stability studies investigating the effects of wind power integration into a conventional power system assume the insertion point of the wind-generating units to be at the same bus and interconnection voltage as the synchronous generators they are substituting or complementing. While these assumptions offer some insights into the effects of the wind on the existing system, important points about the physical distance and interconnection voltage of wind farms with respect to the conventional power system are neglected. This paper analyzes the effects of integrating doubly-fed induction wind turbine generators through different transmission line configurations and at different buses. The IEEE 14-bus test system is used in order to compare results with previous works. Results show that connecting wind generators through transmission lines and to different buses introducesdelays in the speed dynamic responses of existing synchronous generators. These delays in turn affect the bus voltage oscillations. Results also show that there is no significant effect on the base cases when using different interconnection voltages to connect the wind. The results of this study can be used by power system operators when deciding how to connect wind farms to an existing power network when optimizing for stability response to a large fault. Overall, wind farms should be connected through additional transmission lines to buses near where synchronous generators are located and further away from loads and higher risk fault areas.\",\"keywords\":\"intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_SG_Wind_Integration_Stability,\\r\\ntitle = {Transient Stability of Power Systems with Different Configurations for Wind Power Integration},\\r\\nauthor = {Hussein M Abdelhalim and Amro M Farid and Ambrose A Adegbege and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6497903&isnumber=6497783&tag=1},\\r\\ndoi = {10.1109/ISGT.2013.6497903},\\r\\nyear  = {2013},\\r\\ndate = {2013-01-01},\\r\\nbooktitle = {Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES},\\r\\nabstract = {Previous transient stability studies investigating the effects of wind power integration into a conventional power system assume the insertion point of the wind-generating units to be at the same bus and interconnection voltage as the synchronous generators they are substituting or complementing. While these assumptions offer some insights into the effects of the wind on the existing system, important points about the physical distance and interconnection voltage of wind farms with respect to the conventional power system are neglected. This paper analyzes the effects of integrating doubly-fed induction wind turbine generators through different transmission line configurations and at different buses. The IEEE 14-bus test system is used in order to compare results with previous works. Results show that connecting wind generators through transmission lines and to different buses introducesdelays in the speed dynamic responses of existing synchronous generators. These delays in turn affect the bus voltage oscillations. Results also show that there is no significant effect on the base cases when using different interconnection voltages to connect the wind. The results of this study can be used by power system operators when deciding how to connect wind farms to an existing power network when optimizing for stability response to a large fault. Overall, wind farms should be connected through additional transmission lines to buses near where synchronous generators are located and further away from loads and higher risk fault areas.},\\r\\nkeywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Abdelhalim, H. M\",\"Farid, A. M\",\"Adegbege, A. A\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_SG_Wind_Integration_Stability\",\"id\":\"MRL_SG_Wind_Integration_Stability\",\"bibbaseid\":\"abdelhalim-farid-adegbege-youceftoumi-transientstabilityofpowersystemswithdifferentconfigurationsforwindpowerintegration-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6497903&isnumber=6497783&tag=1\"},\"keyword\":[\"intelligent systems\",\"Modelling; sizing and control of smart grids\",\"Physical Systems Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Modal damping of a quadruple pendulum for advanced gravitational wave detectors\",\"author\":[{\"firstnames\":[\"Brett\"],\"propositions\":[],\"lastnames\":[\"Shapiro\"],\"suffixes\":[]},{\"firstnames\":[\"Nergis\"],\"propositions\":[],\"lastnames\":[\"Mavalvala\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_DDL_Gravity_Wave_Detectors,\\r\\ntitle = {Modal damping of a quadruple pendulum for advanced gravitational wave detectors},\\r\\nauthor = {Brett Shapiro and Nergis Mavalvala and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/6315185},\\r\\ndoi = {10.1109/ACC.2012.6315185},\\r\\nisbn = {978-1-4577-1096-4},\\r\\nyear  = {2012},\\r\\ndate = {2012-10-02},\\r\\nbooktitle = {2012 American Control Conference (ACC)},\\r\\npages = {1017-1022},\\r\\npublisher = {ACC},\\r\\norganization = {ACC},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Data-driven learning for intelligent machine maintanence, Experimentation, Fabrication, intelligent systems, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Shapiro, B.\",\"Mavalvala, N.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_DDL_Gravity_Wave_Detectors\",\"id\":\"MRL_DDL_Gravity_Wave_Detectors\",\"bibbaseid\":\"shapiro-mavalvala-youceftoumi-modaldampingofaquadruplependulumforadvancedgravitationalwavedetectors-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6315185\"},\"keyword\":[\"Control Theory\",\"Data-driven learning for intelligent machine maintanence\",\"Experimentation\",\"Fabrication\",\"intelligent systems\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A vibration suppression approach to high-speed atomic force microscopy\",\"author\":[{\"firstnames\":[\"Soltani\",\"I\"],\"propositions\":[],\"lastnames\":[\"Bozchalooi\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"D\",\"J\"],\"propositions\":[],\"lastnames\":[\"Burns\"],\"suffixes\":[]},{\"firstnames\":[\"Georg\",\"E\"],\"propositions\":[],\"lastnames\":[\"Fantner\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_AFM_Vibration_Suppression,\\r\\ntitle = {A vibration suppression approach to high-speed atomic force microscopy},\\r\\nauthor = {Soltani I Bozchalooi and Kamal Youcef-Toumi and D J Burns and Georg E Fantner},\\r\\nurl = {https://ieeexplore.ieee.org/document/6315281},\\r\\ndoi = {10.1109/ACC.2012.6315281},\\r\\nisbn = {978-1-4577-1096-4},\\r\\nyear  = {2012},\\r\\ndate = {2012-10-02},\\r\\nbooktitle = {2012 American Control Conference (ACC)},\\r\\npages = {3797-3802},\\r\\npublisher = {ACC},\\r\\norganization = {ACC},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Bozchalooi, S. I\",\"Youcef-Toumi, K.\",\"Burns, D J\",\"Fantner, G. E\"],\"key\":\"MRL_AFM_Vibration_Suppression\",\"id\":\"MRL_AFM_Vibration_Suppression\",\"bibbaseid\":\"bozchalooi-youceftoumi-burns-fantner-avibrationsuppressionapproachtohighspeedatomicforcemicroscopy-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6315281\"},\"keyword\":[\"Control Theory\",\"Experimentation\",\"Instrumentation\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Characterization of In-Pipe Acoustic Wave for Water Leak Detection\",\"author\":[{\"firstnames\":[\"Atia\",\"E\"],\"propositions\":[],\"lastnames\":[\"Khalifa\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Changrak\"],\"propositions\":[],\"lastnames\":[\"Choi\"],\"suffixes\":[]}],\"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 &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Acoustic_Wave_Pipe_Leakage,\\r\\ntitle = {Characterization of In-Pipe Acoustic Wave for Water Leak Detection},\\r\\nauthor = {Atia E Khalifa and Rached Ben-Mansour and Kamal Youcef-Toumi and Changrak Choi},\\r\\nurl = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2011/54945/995/355499},\\r\\ndoi = {10.1115/IMECE2011-62333},\\r\\nisbn = {978-0-7918-5494-5},\\r\\nyear  = {2012},\\r\\ndate = {2012-08-01},\\r\\nbooktitle = {ASME 2011 International Mechanical Engineering Congress and Exposition},\\r\\npages = {995-1000},\\r\\npublisher = {ACC},\\r\\norganization = {ACC},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Khalifa, A. E\",\"Ben-Mansour, R.\",\"Youcef-Toumi, K.\",\"Choi, C.\"],\"key\":\"MRL_WDP_Acoustic_Wave_Pipe_Leakage\",\"id\":\"MRL_WDP_Acoustic_Wave_Pipe_Leakage\",\"bibbaseid\":\"khalifa-benmansour-youceftoumi-choi-characterizationofinpipeacousticwaveforwaterleakdetection-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2011/54945/995/355499\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Determination of important flow characteristics for leak detection in water pipelines-networks\",\"author\":[{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]},{\"firstnames\":[\"Kabir\"],\"propositions\":[],\"lastnames\":[\"Suara\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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 &amp; intelligence for water distribution pipes, Robotics &amp; Automation, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Flow_Leak_Detection,\\r\\ntitle = {Determination of important flow characteristics for leak detection in water pipelines-networks},\\r\\nauthor = {Rached Ben-Mansour and Kabir Suara and Kamal Youcef-Toumi},\\r\\nurl = {http://www.dl.begellhouse.com/journals/648192910890cd0e,1c6ade0932d1248e,18dcce9156c09e65.html},\\r\\ndoi = {10.1615/ComputThermalScien.2013006301},\\r\\nissn = {143-151},\\r\\nyear  = {2012},\\r\\ndate = {2012-07-16},\\r\\njournal = {Computational Thermal Sciences},\\r\\nvolume = {5},\\r\\npages = {143-151},\\r\\npublisher = {begellhouse},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Inspection, Physical System Modeling, repair &amp; intelligence for water distribution pipes, Robotics &amp; Automation, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Ben-Mansour, R.\",\"Suara, K.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Flow_Leak_Detection\",\"id\":\"MRL_AFM_Flow_Leak_Detection\",\"bibbaseid\":\"benmansour-suara-youceftoumi-determinationofimportantflowcharacteristicsforleakdetectioninwaterpipelinesnetworks-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.dl.begellhouse.com/journals/648192910890cd0e,1c6ade0932d1248e,18dcce9156c09e65.html\"},\"keyword\":[\"Control Theory\",\"Inspection\",\"Physical System Modeling\",\"repair &amp; intelligence for water distribution pipes\",\"Robotics &amp; Automation\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications\",\"author\":[{\"firstnames\":[\"C\"],\"propositions\":[],\"lastnames\":[\"Choi\"],\"suffixes\":[]},{\"firstnames\":[\"D\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"R\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_WDP_Friction_Minimization,\\r\\ntitle = {Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications},\\r\\nauthor = {C Choi and D Chatzigeorgiou and R Ben-Mansour and K Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/6225380},\\r\\ndoi = {10.1109/ICRA.2012.6225380},\\r\\nisbn = {978-1-4673-1405-3},\\r\\nyear  = {2012},\\r\\ndate = {2012-06-28},\\r\\nbooktitle = {2012 IEEE International Conference on Robotics and Automation},\\r\\npages = {4118-4123},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {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.},\\r\\nkeywords = {Experimentation, Fabrication, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics and Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Choi, C\",\"Chatzigeorgiou, D\",\"Ben-Mansour, R\",\"Youcef-Toumi, K\"],\"key\":\"MRL_WDP_Friction_Minimization\",\"id\":\"MRL_WDP_Friction_Minimization\",\"bibbaseid\":\"choi-chatzigeorgiou-benmansour-youceftoumi-designandanalysisofnovelfrictioncontrollingmechanismwithminimalenergyforinpiperobotapplications-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/6225380\"},\"keyword\":[\"Experimentation\",\"Fabrication\",\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics and Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"An In-Pipe Leak Detection Sensor: Sensing Capabilities and Evaluation\",\"author\":[{\"firstnames\":[\"Dimitris\",\"M\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"Atia\",\"E\"],\"propositions\":[],\"lastnames\":[\"Khalifa\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"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 &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Leak_Capability_Sensor,\\r\\ntitle = {An In-Pipe Leak Detection Sensor: Sensing Capabilities and Evaluation},\\r\\nauthor = {Dimitris M Chatzigeorgiou and Atia E Khalifa and Kamal Youcef-Toumi and Rached Ben-Mansour},\\r\\nurl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54808/481/351961},\\r\\ndoi = {10.1115/DETC2011-48411},\\r\\nisbn = {978-0-7918-5480-8},\\r\\nyear  = {2012},\\r\\ndate = {2012-06-12},\\r\\nbooktitle = {ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},\\r\\npages = {481-489},\\r\\npublisher = {ACC},\\r\\norganization = {ACC},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Chatzigeorgiou, D. M\",\"Khalifa, A. E\",\"Youcef-Toumi, K.\",\"Ben-Mansour, R.\"],\"key\":\"MRL_WDP_Leak_Capability_Sensor\",\"id\":\"MRL_WDP_Leak_Capability_Sensor\",\"bibbaseid\":\"chatzigeorgiou-khalifa-youceftoumi-benmansour-aninpipeleakdetectionsensorsensingcapabilitiesandevaluation-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54808/481/351961\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Analysis and Design of an In-Pipe System for Water Leak Detection\",\"author\":[{\"firstnames\":[\"Dimitris\",\"M\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Atia\",\"E\"],\"propositions\":[],\"lastnames\":[\"Khalifa\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"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 &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Design_Water_Leak_Detection,\\r\\ntitle = {Analysis and Design of an In-Pipe System for Water Leak Detection},\\r\\nauthor = {Dimitris M Chatzigeorgiou and Kamal Youcef-Toumi and Atia E Khalifa and Rached Ben-Mansour},\\r\\nurl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54822/1007/353866},\\r\\ndoi = {10.1115/DETC2011-48395},\\r\\nisbn = {978-0-7918-5482-2},\\r\\nyear  = {2012},\\r\\ndate = {2012-06-12},\\r\\nbooktitle = {ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},\\r\\npages = {1007-1016},\\r\\npublisher = {ASME},\\r\\norganization = {ASME},\\r\\nabstract = {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.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Chatzigeorgiou, D. M\",\"Youcef-Toumi, K.\",\"Khalifa, A. E\",\"Ben-Mansour, R.\"],\"key\":\"MRL_WDP_Design_Water_Leak_Detection\",\"id\":\"MRL_WDP_Design_Water_Leak_Detection\",\"bibbaseid\":\"chatzigeorgiou-youceftoumi-khalifa-benmansour-analysisanddesignofaninpipesystemforwaterleakdetection-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54822/1007/353866\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Computational fluid dynamic simulation of small leaks in water pipelines for direct leak pressure transduction\",\"author\":[{\"firstnames\":[\"R\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]},{\"firstnames\":[\"M\",\"A\"],\"propositions\":[],\"lastnames\":[\"Habib\"],\"suffixes\":[]},{\"firstnames\":[\"A\"],\"propositions\":[],\"lastnames\":[\"Khalifa\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"D\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]}],\"url\":\"https://www.sciencedirect.com/science/article/pii/S0045793011003884\",\"doi\":\"https://doi.org/10.1016/j.compfluid.2011.12.016\",\"issn\":\"0045-7930\",\"year\":\"2012\",\"date\":\"2012-03-30\",\"journal\":\"Computers & Fluids\",\"volume\":\"57\",\"pages\":\"110-123\",\"publisher\":\"Science Direct\",\"abstract\":\"Computational fluid dynamic simulation of small leaks in a pipe having 0.1m diameter has been performed under realistic velocities and pressures using a 3D turbulent flow model of well tested CFD code. The steady state simulations have shown clear signature in the pressure and pressure gradient variations along the pipe. For very small leaks (below 1l/min), this signature in not very strong in the pressure variation, but very clear in the pressure gradient. The averaged power spectral density (PSD) as well as FFT of the pressure fluctuations based on transient Detached Eddy Simulations (DESs) are presented for different locations around the leak position. These results show that the presence of a leak causes measurable differences in the magnitude and frequency of the pressure signal spectrum and also in the averaged PSD for the range of 220–500Hz frequency.\",\"keywords\":\"Control Theory, Inspection, Physical System Modeling, repair &amp; intelligence for water distribution pipes, Robotics &amp; Automation, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Dynamic_Simulation_Leak_Pipe,\\r\\ntitle = {Computational fluid dynamic simulation of small leaks in water pipelines for direct leak pressure transduction},\\r\\nauthor = {R Ben-Mansour and M A Habib and A Khalifa and K Youcef-Toumi and D Chatzigeorgiou},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S0045793011003884},\\r\\ndoi = {https://doi.org/10.1016/j.compfluid.2011.12.016},\\r\\nissn = {0045-7930},\\r\\nyear  = {2012},\\r\\ndate = {2012-03-30},\\r\\njournal = {Computers & Fluids},\\r\\nvolume = {57},\\r\\npages = {110-123},\\r\\npublisher = {Science Direct},\\r\\nabstract = {Computational fluid dynamic simulation of small leaks in a pipe having 0.1m diameter has been performed under realistic velocities and pressures using a 3D turbulent flow model of well tested CFD code. The steady state simulations have shown clear signature in the pressure and pressure gradient variations along the pipe. For very small leaks (below 1l/min), this signature in not very strong in the pressure variation, but very clear in the pressure gradient. The averaged power spectral density (PSD) as well as FFT of the pressure fluctuations based on transient Detached Eddy Simulations (DESs) are presented for different locations around the leak position. These results show that the presence of a leak causes measurable differences in the magnitude and frequency of the pressure signal spectrum and also in the averaged PSD for the range of 220–500Hz frequency.},\\r\\nkeywords = {Control Theory, Inspection, Physical System Modeling, repair &amp; intelligence for water distribution pipes, Robotics &amp; Automation, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Ben-Mansour, R\",\"Habib, M A\",\"Khalifa, A\",\"Youcef-Toumi, K\",\"Chatzigeorgiou, D\"],\"key\":\"MRL_AFM_Dynamic_Simulation_Leak_Pipe\",\"id\":\"MRL_AFM_Dynamic_Simulation_Leak_Pipe\",\"bibbaseid\":\"benmansour-habib-khalifa-youceftoumi-chatzigeorgiou-computationalfluiddynamicsimulationofsmallleaksinwaterpipelinesfordirectleakpressuretransduction-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S0045793011003884\"},\"keyword\":[\"Control Theory\",\"Inspection\",\"Physical System Modeling\",\"repair &amp; intelligence for water distribution pipes\",\"Robotics &amp; Automation\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Integrated Design and Control of Flexure-Based Nanopositioning Systems — Part I: Methodology\",\"author\":[{\"firstnames\":[\"Vijay\"],\"propositions\":[],\"lastnames\":[\"Shilpiekandula\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://www.sciencedirect.com/science/article/pii/S1474667016451232\",\"doi\":\"https://doi.org/10.3182/20110828-6-IT-1002.03796\",\"issn\":\"1474-6670\",\"year\":\"2011\",\"date\":\"2011-09-01\",\"journal\":\"IFAC Proceedings Volumes\",\"volume\":\"44\",\"number\":\"1\",\"pages\":\"9406-9412\",\"publisher\":\"IFAC\",\"abstract\":\"Abstract Flexure-based mechanisms, also referred to as flexures, are widely being used as motion-guidance, or bearing, elements in applications requiring multi-degree-of-freedom positioning and alignment. Unlike friction-bearings (such as sliding or rolling contact bearings), flexures can be designed to offer, to a large extent, reliable linear elastic motion with a high resolution (on the order of nanometers) over small ranges of motion (on order of micrometers). Example applications include positioning a probe or sample in atomic force microscopy, alignment of tool and sample in stamping processes, and fine-positioning of wafers and masks in semiconductor manufacturing. These applications are often required satisfy critical functional requirements, such as load-capacity, bandwidth, resolution, and range. A systematic approach is needed to simultaneously address the design and control challenges involved, starting from the initial design concept generation stage to the final control implementation and testing. In this paper, we present an integrated design and control method for implementing flexure-based nanopositioning systems. We discuss the need for varying design topology and order of a controller in design and control optimization. An automation engine generates a set of flexure-based design topologies and also controllers of varying order in the optimization. A simple 1-DOF example is worked out to illustrate the steps involved in using this methodology. The outcome of the exercise is a novel design topology, with it shape and size optimized, and a controller synthesized such that a desired control bandwidth and design requirements of strength and modal separation are met.\",\"note\":\"18th IFAC World Congress\",\"keywords\":\"Control Theory, Mechatronic Design, Nanotechnology, Physical System Modeling, Robot operated modular fixtures, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_AFM_Flexure_Nanopositioning_Methodology,\\r\\ntitle = {Integrated Design and Control of Flexure-Based Nanopositioning Systems — Part I: Methodology},\\r\\nauthor = {Vijay Shilpiekandula and Kamal Youcef-Toumi},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S1474667016451232},\\r\\ndoi = {https://doi.org/10.3182/20110828-6-IT-1002.03796},\\r\\nissn = {1474-6670},\\r\\nyear  = {2011},\\r\\ndate = {2011-09-01},\\r\\njournal = {IFAC Proceedings Volumes},\\r\\nvolume = {44},\\r\\nnumber = {1},\\r\\npages = {9406-9412},\\r\\npublisher = {IFAC},\\r\\nabstract = {Abstract \\r\\nFlexure-based mechanisms, also referred to as flexures, are widely being used as motion-guidance, or bearing, elements in applications requiring multi-degree-of-freedom positioning and alignment. Unlike friction-bearings (such as sliding or rolling contact bearings), flexures can be designed to offer, to a large extent, reliable linear elastic motion with a high resolution (on the order of nanometers) over small ranges of motion (on order of micrometers). Example applications include positioning a probe or sample in atomic force microscopy, alignment of tool and sample in stamping processes, and fine-positioning of wafers and masks in semiconductor manufacturing. These applications are often required satisfy critical functional requirements, such as load-capacity, bandwidth, resolution, and range. A systematic approach is needed to simultaneously address the design and control challenges involved, starting from the initial design concept generation stage to the final control implementation and testing. In this paper, we present an integrated design and control method for implementing flexure-based nanopositioning systems. We discuss the need for varying design topology and order of a controller in design and control optimization. An automation engine generates a set of flexure-based design topologies and also controllers of varying order in the optimization. A simple 1-DOF example is worked out to illustrate the steps involved in using this methodology. The outcome of the exercise is a novel design topology, with it shape and size optimized, and a controller synthesized such that a desired control bandwidth and design requirements of strength and modal separation are met.},\\r\\nnote = {18th IFAC World Congress},\\r\\nkeywords = {Control Theory, Mechatronic Design, Nanotechnology, Physical System Modeling, Robot operated modular fixtures, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Shilpiekandula, V.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Flexure_Nanopositioning_Methodology\",\"id\":\"MRL_AFM_Flexure_Nanopositioning_Methodology\",\"bibbaseid\":\"shilpiekandula-youceftoumi-integrateddesignandcontrolofflexurebasednanopositioningsystemspartimethodology-2011\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S1474667016451232\"},\"keyword\":[\"Control Theory\",\"Mechatronic Design\",\"Nanotechnology\",\"Physical System Modeling\",\"Robot operated modular fixtures\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Actuator sizing of a quadruple pendulum for advanced gravitational wave detectors\",\"author\":[{\"firstnames\":[\"Brett\"],\"propositions\":[],\"lastnames\":[\"Shapiro\"],\"suffixes\":[]},{\"firstnames\":[\"Nergis\"],\"propositions\":[],\"lastnames\":[\"Mavalvala\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"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\",\"bibtex\":\"@inproceedings{MRL_DDL_Actuator_Sizing_Pendulum,\\r\\ntitle = {Actuator sizing of a quadruple pendulum for advanced gravitational wave detectors},\\r\\nauthor = {Brett Shapiro and Nergis Mavalvala and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/5991170},\\r\\ndoi = {10.1109/ACC.2011.5991170},\\r\\nisbn = {978-1-4577-0081-1},\\r\\nyear  = {2011},\\r\\ndate = {2011-08-18},\\r\\nbooktitle = {Proceedings of the 2011 American Control Conference},\\r\\npages = {1358-1363},\\r\\npublisher = {ACC},\\r\\norganization = {ACC},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Data-driven learning for intelligent machine maintanence, Experimentation, Fabrication, intelligent systems, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Shapiro, B.\",\"Mavalvala, N.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_DDL_Actuator_Sizing_Pendulum\",\"id\":\"MRL_DDL_Actuator_Sizing_Pendulum\",\"bibbaseid\":\"shapiro-mavalvala-youceftoumi-actuatorsizingofaquadruplependulumforadvancedgravitationalwavedetectors-2011\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/5991170\"},\"keyword\":[\"Control Theory\",\"Data-driven learning for intelligent machine maintanence\",\"Experimentation\",\"Fabrication\",\"intelligent systems\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"The effect of GAG depletion on cartilage nanoscale hydraulic permeability\",\"author\":[{\"firstnames\":[\"Tavakoli\",\"H\"],\"propositions\":[],\"lastnames\":[\"Nia\"],\"suffixes\":[]},{\"firstnames\":[\"L\"],\"propositions\":[],\"lastnames\":[\"Han\"],\"suffixes\":[]},{\"firstnames\":[\"Y\"],\"propositions\":[],\"lastnames\":[\"Li\"],\"suffixes\":[]},{\"firstnames\":[\"Soltani\",\"I\"],\"propositions\":[],\"lastnames\":[\"Bozchalooi\"],\"suffixes\":[]},{\"firstnames\":[\"H\"],\"propositions\":[],\"lastnames\":[\"Hung\"],\"suffixes\":[]},{\"firstnames\":[\"E\"],\"propositions\":[],\"lastnames\":[\"Frank\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"A\"],\"propositions\":[],\"lastnames\":[\"Grodzinsky\"],\"suffixes\":[]},{\"firstnames\":[\"C\"],\"propositions\":[],\"lastnames\":[\"Orti\"],\"suffixes\":[]}],\"url\":\"http://www.ors.org/Transactions/58/0282.pdf\",\"doi\":\"10.1109/ACC.2012.6315281\",\"isbn\":\"978-1-4577-1096-4\",\"year\":\"2011\",\"date\":\"2011-01-01\",\"booktitle\":\"ORS 2012 Annual Meeting\",\"pages\":\"0282\",\"publisher\":\"ORS\",\"organization\":\"ORS\",\"abstract\":\"The advent of new time-dependent nanomechanical methods has recently enabled the quantification of cartilage tissue poroelasticity and hydraulic permeability, k, at the nanoscale [1-3] and holds great potential for early detection of pathological changes and diagnosis of osteoarthritis (OA). It is known that at the macroscale, tissue hydraulic permeability can undergo several order-of-magnitude changes due to OA [4] while the equilibrium stiffness may vary by only a factor of 2 [5]. This is because GAG chains are the main determinant of the pore size (consequently, hydraulic permeability) of cartilage while they contribute only partially to the compression stiffness of the tissue. Here, we extend the technique of atomic force microscope-based dynamic oscillatory nanoindentation to a larger frequency range (1-10,000 Hz) and compare these data to finite element analysis simulations to study the effect of GAG content, relevant to early stage OA.\",\"keywords\":\"Control Theory, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_AFM_GAG_Depletion,\\r\\ntitle = {The effect of GAG depletion on cartilage nanoscale hydraulic permeability},\\r\\nauthor = {Tavakoli H Nia and L Han and Y Li and Soltani I Bozchalooi and H Hung and E Frank and K Youcef-Toumi and A Grodzinsky and C Orti},\\r\\nurl = {http://www.ors.org/Transactions/58/0282.pdf},\\r\\ndoi = {10.1109/ACC.2012.6315281},\\r\\nisbn = {978-1-4577-1096-4},\\r\\nyear  = {2011},\\r\\ndate = {2011-01-01},\\r\\nbooktitle = {ORS 2012 Annual Meeting},\\r\\npages = {0282},\\r\\npublisher = {ORS},\\r\\norganization = {ORS},\\r\\nabstract = {The advent of new time-dependent nanomechanical methods has recently enabled the quantification of cartilage tissue poroelasticity and hydraulic permeability, k, at the nanoscale [1-3] and holds great potential for early detection of pathological changes and diagnosis of osteoarthritis (OA). It is known that at the macroscale, tissue hydraulic permeability can undergo several order-of-magnitude changes due to OA [4] while the equilibrium stiffness may vary by only a factor of 2 [5]. This is because GAG chains are the main determinant of the pore size (consequently, hydraulic permeability) of cartilage while they contribute only partially to the compression stiffness of the tissue. Here, we extend the technique of atomic force microscope-based dynamic oscillatory nanoindentation to a larger frequency range (1-10,000 Hz) and compare these data to finite element analysis simulations to study the effect of GAG content, relevant to early stage OA.},\\r\\nkeywords = {Control Theory, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Nia, T. H\",\"Han, L\",\"Li, Y\",\"Bozchalooi, S. I\",\"Hung, H\",\"Frank, E\",\"Youcef-Toumi, K\",\"Grodzinsky, A\",\"Orti, C\"],\"key\":\"MRL_AFM_GAG_Depletion\",\"id\":\"MRL_AFM_GAG_Depletion\",\"bibbaseid\":\"nia-han-li-bozchalooi-hung-frank-youceftoumi-grodzinsky-etal-theeffectofgagdepletiononcartilagenanoscalehydraulicpermeability-2011\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.ors.org/Transactions/58/0282.pdf\"},\"keyword\":[\"Control Theory\",\"Instrumentation\",\"Nanoscale video imaging for dynamic process visualization\",\"Nanotechnology\",\"Physical System Modeling\",\"Simulation\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example\",\"author\":[{\"firstnames\":[\"Pablo\",\"Valdivia\"],\"propositions\":[\"y\"],\"lastnames\":[\"Alvarado\"],\"suffixes\":[]},{\"firstnames\":[\"Stephanie\"],\"propositions\":[],\"lastnames\":[\"Chin\"],\"suffixes\":[]},{\"firstnames\":[\"Winston\"],\"propositions\":[],\"lastnames\":[\"Larson\"],\"suffixes\":[]},{\"firstnames\":[\"Anirban\"],\"propositions\":[],\"lastnames\":[\"Mazumdar\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/document/5627803\",\"doi\":\"10.1109/BIOROB.2010.5627803\",\"isbn\":\"978-1-4244-7709-8\",\"year\":\"2010\",\"date\":\"2010-11-11\",\"booktitle\":\"2010 3rd IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics\",\"pages\":\"473-478\",\"publisher\":\"IEEE\",\"organization\":\"IEEE\",\"abstract\":\"In this paper we present a new application of the methodology our group is developing to design and prototype under-actuated biomimetic robots by determining appropriate body material property distributions. When excited, flexible bodies with proper anisotropic material distributions display modes of vibration that mimic required locomotion kinematics and require minimal actuation. Our previous prototypes explored simple two dimensional applications for fish-like swimming. In this paper, the three dimensional vibrational kinematics of a stingray are explored. A simple design is explained, and corresponding prototypes are presented along with preliminary performance data. Our methodology shows great promise to develop simple, robust, and inexpensive mobile robots that can efficiently accomplish locomotion.\",\"keywords\":\"Biomimetic robotic fish for underwater monitoring, Experimentation, Mechatronic Design, Physical System Modeling, Robotics and Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_BRF_Multi_DOF_Stingray,\\r\\ntitle = {A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example},\\r\\nauthor = {Pablo Valdivia y Alvarado and Stephanie Chin and Winston Larson and Anirban Mazumdar and Kamal Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/5627803},\\r\\ndoi = {10.1109/BIOROB.2010.5627803},\\r\\nisbn = {978-1-4244-7709-8},\\r\\nyear  = {2010},\\r\\ndate = {2010-11-11},\\r\\nbooktitle = {2010 3rd IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics},\\r\\npages = {473-478},\\r\\npublisher = {IEEE},\\r\\norganization = {IEEE},\\r\\nabstract = {In this paper we present a new application of the methodology our group is developing to design and prototype under-actuated biomimetic robots by determining appropriate body material property distributions. When excited, flexible bodies with proper anisotropic material distributions display modes of vibration that mimic required locomotion kinematics and require minimal actuation. Our previous prototypes explored simple two dimensional applications for fish-like swimming. In this paper, the three dimensional vibrational kinematics of a stingray are explored. A simple design is explained, and corresponding prototypes are presented along with preliminary performance data. Our methodology shows great promise to develop simple, robust, and inexpensive mobile robots that can efficiently accomplish locomotion.},\\r\\nkeywords = {Biomimetic robotic fish for underwater monitoring, Experimentation, Mechatronic Design, Physical System Modeling, Robotics and Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"y Alvarado, P. V.\",\"Chin, S.\",\"Larson, W.\",\"Mazumdar, A.\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_BRF_Multi_DOF_Stingray\",\"id\":\"MRL_BRF_Multi_DOF_Stingray\",\"bibbaseid\":\"yalvarado-chin-larson-mazumdar-youceftoumi-asoftbodyunderactuatedapproachtomultidegreeoffreedombiomimeticrobotsastingrayexample-2010\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/5627803\"},\"keyword\":[\"Biomimetic robotic fish for underwater monitoring\",\"Experimentation\",\"Mechatronic Design\",\"Physical System Modeling\",\"Robotics and Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"In-pipe Acoustic Characterization of Leak Signals in Plastic Water-filled Pipes\",\"author\":[{\"firstnames\":[\"Dimitris\",\"M\"],\"propositions\":[],\"lastnames\":[\"Chatzigeorgiou\"],\"suffixes\":[]},{\"firstnames\":[\"Sumeet\"],\"propositions\":[],\"lastnames\":[\"Kumar\"],\"suffixes\":[]},{\"firstnames\":[\"Atia\",\"E\"],\"propositions\":[],\"lastnames\":[\"Khalifa\"],\"suffixes\":[]},{\"firstnames\":[\"Ajay\"],\"propositions\":[],\"lastnames\":[\"Deshpande\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]},{\"firstnames\":[\"Sanjay\"],\"propositions\":[],\"lastnames\":[\"Sarma\"],\"suffixes\":[]},{\"firstnames\":[\"Rached\"],\"propositions\":[],\"lastnames\":[\"Ben-Mansour\"],\"suffixes\":[]}],\"url\":\"https://www.researchgate.net/publication/277303127_In-pipe_Acoustic_Characterization_of_Leak_Signals_in_Plastic_Water-filled_Pipes\",\"year\":\"2010\",\"date\":\"2010-01-01\",\"booktitle\":\"AWWA Annual Conference and Exposition (ACE) 2010\",\"publisher\":\"AWWA\",\"organization\":\"AWWA\",\"abstract\":\"Acoustic emissions can be sensed to identify and localize leaks in water pipes. Leak noise correlators and listening devices have been reported in literature as successful approaches to leak detection but they have practical limitations in terms of cost, sensitivity, reliability and scalability. A possible efficient solution is the development of an in-pipe traveling leak detection system. It has been reported that in-pipe sensing is more accurate and efficient since the sensing element can be very close to the sound source. Currently in-pipe approaches are limited to large leaks and larger diameter pipes. Development of such a system requires clear understanding of acoustic signals generated from leaks and their variation with different pipe loading conditions, leak sizes and surrounding media. This paper discusses the acoustic characterization of leak signals in controlled environments. A lab experimental setup was designed and built in which measurements were taken from inside 4 inch PVC water pipes using a hydrophone. Signals were collected for a wide range of conditions: different pressures and leak flow rates to better understand the leak signal signatures. Experiments were conducted with different pipe connecting elements like valves and junctions, and different external conditions such as pipes placed in water, air and soil. Signals were collected at various distances from the leak location (upstream and downstream) to understand the opportunities of spatial cross-correlation techniques in localizing leaks and the effect of sensor position on the signal. Characterizations of different datasets are presented in frequency domain. The implications of acoustic characterization on the design of algorithms for leak detection are discussed and a simple algorithm to decide whether or not a leak is present near the sensor location is proposed, based on signal power calculations. The characterization gives insights, which will pave ways for the development of smart, autonomous pipe-traversing systems capable of detecting and localizing leaks on a city level water distribution network.\",\"keywords\":\"Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"inproceedings\",\"bibtex\":\"@inproceedings{MRL_WDP_Acoustic_Leak_Signals,\\r\\ntitle = {In-pipe Acoustic Characterization of Leak Signals in Plastic Water-filled Pipes},\\r\\nauthor = {Dimitris M Chatzigeorgiou and Sumeet Kumar and Atia E Khalifa and Ajay Deshpande and Kamal Youcef-Toumi and Sanjay Sarma and Rached Ben-Mansour},\\r\\nurl = {https://www.researchgate.net/publication/277303127_In-pipe_Acoustic_Characterization_of_Leak_Signals_in_Plastic_Water-filled_Pipes},\\r\\nyear  = {2010},\\r\\ndate = {2010-01-01},\\r\\nbooktitle = {AWWA Annual Conference and Exposition (ACE) 2010},\\r\\npublisher = {AWWA},\\r\\norganization = {AWWA},\\r\\nabstract = {Acoustic emissions can be sensed to identify and localize leaks in water pipes. Leak noise correlators and listening devices have been reported in literature as successful approaches to leak detection but they have practical limitations in terms of cost, sensitivity, reliability and scalability. A possible efficient solution is the development of an in-pipe traveling leak detection system. It has been reported that in-pipe sensing is more accurate and efficient since the sensing element can be very close to the sound source. Currently in-pipe approaches are limited to large leaks and larger diameter pipes. Development of such a system requires clear understanding of acoustic signals generated from leaks and their variation with different pipe loading conditions, leak sizes and surrounding media. This paper discusses the acoustic characterization of leak signals in controlled environments. A lab experimental setup was designed and built in which measurements were taken from inside 4 inch PVC water pipes using a hydrophone. Signals were collected for a wide range of conditions: different pressures and leak flow rates to better understand the leak signal signatures. Experiments were conducted with different pipe connecting elements like valves and junctions, and different external conditions such as pipes placed in water, air and soil. Signals were collected at various distances from the leak location (upstream and downstream) to understand the opportunities of spatial cross-correlation techniques in localizing leaks and the effect of sensor position on the signal. Characterizations of different datasets are presented in frequency domain. The implications of acoustic characterization on the design of algorithms for leak detection are discussed and a simple algorithm to decide whether or not a leak is present near the sensor location is proposed, based on signal power calculations. The characterization gives insights, which will pave ways for the development of smart, autonomous pipe-traversing systems capable of detecting and localizing leaks on a city level water distribution network.},\\r\\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {inproceedings}\\r\\n}\\r\\n\",\"author_short\":[\"Chatzigeorgiou, D. M\",\"Kumar, S.\",\"Khalifa, A. E\",\"Deshpande, A.\",\"Youcef-Toumi, K.\",\"Sarma, S.\",\"Ben-Mansour, R.\"],\"key\":\"MRL_WDP_Acoustic_Leak_Signals\",\"id\":\"MRL_WDP_Acoustic_Leak_Signals\",\"bibbaseid\":\"chatzigeorgiou-kumar-khalifa-deshpande-youceftoumi-sarma-benmansour-inpipeacousticcharacterizationofleaksignalsinplasticwaterfilledpipes-2010\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.researchgate.net/publication/277303127_In-pipe_Acoustic_Characterization_of_Leak_Signals_in_Plastic_Water-filled_Pipes\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"Inspection; repair and intelligence for water distribution pipes\",\"Physical System Modeling\",\"Robotics &amp; Automation\",\"Simulation\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"An a priori analytical method for the determination of operating reserve requirements\",\"author\":[{\"firstnames\":[\"Aramazd\"],\"propositions\":[],\"lastnames\":[\"Muzhikyan\"],\"suffixes\":[]},{\"firstnames\":[\"Amro\",\"M\"],\"propositions\":[],\"lastnames\":[\"Farid\"],\"suffixes\":[]},{\"firstnames\":[\"Kamal\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://www.sciencedirect.com/science/article/pii/S0142061515300089\",\"doi\":\"https://doi.org/10.1016/j.ijepes.2016.09.005\",\"issn\":\"0142-0615\",\"year\":\"1979\",\"date\":\"1979-04-01\",\"journal\":\"International Journal of Electrical Power & Energy Systems\",\"volume\":\"86\",\"pages\":\"1-17\",\"publisher\":\"ScienceDirect\",\"abstract\":\"Power balance is one of the key requirements for reliable power system operation. However, factors, such as net load variability and forecast errors, impose practical limitations on matching the scheduled generation and the real-time demand. Normally, potential power imbalances are mitigated by scheduling additional generation capacity called operating reserves. However, reserves are a costly commodity and their requirements should be accurately assessed to avoid unnecessary expense. Currently, the reserve requirements are determined using a posteriori methods based upon operator’s experience and established assumptions. While these assumptions are made out of a level of engineering practicality, they may not be formally true given the numerical evidence. This paper presents a formal mathematical framework for the a priori determination of three types of operating reserve requirements, namely load following, ramping and regulation. Validation of the methodology is performed by a set of extensive simulations that model the power system operations for different scenarios. This methodology is used to study the sensitivity of each type of reserve requirement to the net load and power system parameters.\",\"keywords\":\"Algorithms, Computational Intelligence, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Priori_Operating_Requirements,\\r\\ntitle = {An a priori analytical method for the determination of operating reserve requirements},\\r\\nauthor = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\\r\\nurl = {https://www.sciencedirect.com/science/article/pii/S0142061515300089},\\r\\ndoi = {https://doi.org/10.1016/j.ijepes.2016.09.005},\\r\\nissn = {0142-0615},\\r\\nyear  = {1979},\\r\\ndate = {1979-04-01},\\r\\njournal = {International Journal of Electrical Power & Energy Systems},\\r\\nvolume = {86},\\r\\npages = {1-17},\\r\\npublisher = {ScienceDirect},\\r\\nabstract = {Power balance is one of the key requirements for reliable power system operation. However, factors, such as net load variability and forecast errors, impose practical limitations on matching the scheduled generation and the real-time demand. Normally, potential power imbalances are mitigated by scheduling additional generation capacity called operating reserves. However, reserves are a costly commodity and their requirements should be accurately assessed to avoid unnecessary expense. Currently, the reserve requirements are determined using a posteriori methods based upon operator’s experience and established assumptions. While these assumptions are made out of a level of engineering practicality, they may not be formally true given the numerical evidence. This paper presents a formal mathematical framework for the a priori determination of three types of operating reserve requirements, namely load following, ramping and regulation. Validation of the methodology is performed by a set of extensive simulations that model the power system operations for different scenarios. This methodology is used to study the sensitivity of each type of reserve requirement to the net load and power system parameters.},\\r\\nkeywords = {Algorithms, Computational Intelligence, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Muzhikyan, A.\",\"Farid, A. M\",\"Youcef-Toumi, K.\"],\"key\":\"MRL_AFM_Priori_Operating_Requirements\",\"id\":\"MRL_AFM_Priori_Operating_Requirements\",\"bibbaseid\":\"muzhikyan-farid-youceftoumi-anapriorianalyticalmethodforthedeterminationofoperatingreserverequirements-1979\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sciencedirect.com/science/article/pii/S0142061515300089\"},\"keyword\":[\"Algorithms\",\"Computational Intelligence\",\"intelligent systems\",\"Physical System Modeling\",\"Simulation\",\"Uncertainty estimation and calibration for modeling\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth\",\"author\":[{\"firstnames\":[\"C\"],\"propositions\":[],\"lastnames\":[\"Yang\"],\"suffixes\":[]},{\"firstnames\":[\"C\"],\"propositions\":[],\"lastnames\":[\"Li\"],\"suffixes\":[]},{\"firstnames\":[\"F\"],\"propositions\":[],\"lastnames\":[\"Xia\"],\"suffixes\":[]},{\"firstnames\":[\"Y\"],\"propositions\":[],\"lastnames\":[\"Zhu\"],\"suffixes\":[]},{\"firstnames\":[\"J\"],\"propositions\":[],\"lastnames\":[\"Zhao\"],\"suffixes\":[]},{\"firstnames\":[\"K\"],\"propositions\":[],\"lastnames\":[\"Youcef-Toumi\"],\"suffixes\":[]}],\"url\":\"https://ieeexplore.ieee.org/document/8466119\",\"doi\":\"10.1109/TIE.2018.2868321\",\"issn\":\"1557-9948\",\"journal\":\"IEEE Transactions on Industrial Electronics\",\"volume\":\"66\",\"number\":\"7\",\"pages\":\"5392-5402\",\"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, Instrumentation, Nanotechnology, Physical System Modeling, Robot operated modular fixtures, Visualization\",\"pubstate\":\"published\",\"tppubtype\":\"article\",\"bibtex\":\"@article{MRL_AFM_Charge_Controller_Compensating_Configs,\\r\\ntitle = {Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth},\\r\\nauthor = {C Yang and C Li and F Xia and Y Zhu and J Zhao and K Youcef-Toumi},\\r\\nurl = {https://ieeexplore.ieee.org/document/8466119},\\r\\ndoi = {10.1109/TIE.2018.2868321},\\r\\nissn = {1557-9948},\\r\\njournal = {IEEE Transactions on Industrial Electronics},\\r\\nvolume = {66},\\r\\nnumber = {7},\\r\\npages = {5392-5402},\\r\\nabstract = {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.},\\r\\nkeywords = {Control Theory, Instrumentation, Nanotechnology, Physical System Modeling, Robot operated modular fixtures, Visualization},\\r\\npubstate = {published},\\r\\ntppubtype = {article}\\r\\n}\\r\\n\",\"author_short\":[\"Yang, C\",\"Li, C\",\"Xia, F\",\"Zhu, Y\",\"Zhao, J\",\"Youcef-Toumi, K\"],\"key\":\"MRL_AFM_Charge_Controller_Compensating_Configs\",\"id\":\"MRL_AFM_Charge_Controller_Compensating_Configs\",\"bibbaseid\":\"yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/8466119\"},\"keyword\":[\"Control Theory\",\"Instrumentation\",\"Nanotechnology\",\"Physical System Modeling\",\"Robot operated modular fixtures\",\"Visualization\"],\"metadata\":{\"authorlinks\":{}},\"html\":\"\"}],\n      metadata: {\"authorlinks\":{}},\n      ownerID: undefined\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script src=\"https://ajax.googleapis.com/ajax/libs/jquery/2.2.4/jquery.min.js\">\n  </script>\n  <script type=\"text/javascript\">\n  if (site$) {\n    console.log('existing jquery: avoiding conflict and restoring');\n    bb$ = $.noConflict(true);\n    $ = site$;\n  } else {\n    bb$ = $;\n  }\n  </script>\n\n  <script src=\"//bibbase.org/js/bibbase.min.js\"\n          type=\"text/javascript\">\n  </script>\n\n  <script type=\"text/javascript\"\n          src=\"https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML\">\n  </script>\n  <script type=\"text/x-mathjax-config\">\n    MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\\\\(','\\\\)']]},\n                        skipTags: [\"body\"],\n                        processClass: \"bibbase_paper\"});\n  </script>\n\n  <style>\n  @media print {\n    .dontprint {\n        display: none !important;\n    }\n\n  .bibbase_group {\n    background-color: #E0E0E0;\n    font-style: italic;\n    font-size: larger;\n    text-shadow: 0px 0px 3px #FFFFFF;\n    border-radius: 4px 4px 4px 4px;\n    -moz-border-radius: 4px 4px 4px 4px;\n    -webkit-border-radius: 4px;\n    padding: 5px 40px 5px;\n    margin-top: 10px;\n    margin-bottom: 5px;\n    cursor: pointer;\n  }\n\n  .bibbase_paper {\n    margin-bottom: 5px;\n  }\n\n  }\n  </style>\n\n  \n  <div style=\"float: right; margin-right: 10px; margin-top: 10px; text-align: right; font-size: 12px\">\n    generated by\n    <a href=\"//bibbase.org\"\n       onclick=\"trackOutboundLink('bibbase', 'logo clicked', window.location.href, '//bibbase.org'); return false;\">\n      <img src=\"//bibbase.org/img/logo.svg\"\n           style=\"vertical-align: middle; margin-left: 3px; height: 16px;\"/\n           alt=\"bibbase.org\"\n           title=\"BibBase – The easiest way to maintain your publications page.\"\n        ></a>\n    \n  </div>\n  \n\n  <div id=\"bibbase_header\" class=\"dontprint\" style=\"\">\n\n    <ul class=\"nav nav-pills\" style=\"margin: 0px;\">\n\n      <li class=\"dropdown\" id=\"groupby_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\">\n          Group by\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li class=\"groupby year\"><a onclick=\"groupby('year')\">\n            Year</a>\n        </li>\n        <li class=\"groupby author\"><a onclick=\"groupby('author_short')\">\n            Author</a>\n        </li>\n        <li class=\"groupby type\"><a onclick=\"groupby('type')\">\n            Type</a>\n        </li>\n        <li class=\"groupby keyword\"><a onclick=\"groupby('keyword')\">\n            Keyword</a>\n        </li>\n        <li class=\"groupby downloads\"><a onclick=\"groupby('downloads')\">\n            Downloads</a>\n        </li>\n      </ul>\n      </li>\n\n\n      <li class=\"dropdown\" id=\"menu_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\" alt=\"controls\">\n          <i class=\"fa fa-reorder\" alt=\"controls\"></i>\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li>\n          <a onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"st9xSL7YY5jTXkqah\" href=\"data:text/bibtex;base64,@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}
}


@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}
}


@article{MRL_AFM_Charge_Controller_PBFODC,
title = {Modeling and Control of Piezoelectric Hysteresis: A Polynomial-Based Fractional Order Disturbance Compensation Approach},
author = {Chen Yang and Nicolas Verbeek and Fangzhou Xia and Yi Wang and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/9027124},
doi = {10.1109/TIE.2020.2977567},
issn = {1557-9948},
year  = {2020},
date = {2020-03-06},
journal = {IEEE Transactions on Industrial Electronics},
publisher = {IEEE},
abstract = {Piezoelectric hysteresis is a critical issue that significantly degrades the motion accuracy of piezo-actuated nanopositioners. Such an issue is difficult to be precisely modeled and compensated for, primarily due to its asymmetric, rate and input amplitude dependent characteristics. This paper proposes a novel method to deal with this challenge. Specifically, a polynomial-based fractional order disturbance model is proposed to accommodate and characterize the complex hysteresis effect. In this model, the rate dependency is captured by a general method of implementing curve fitting in Bode magnitude plot. The inverse model for control purposes is immediately available from the original one. The proposed method does not require expensive computational resources. In fact, this paper shows that this controller can be easily implemented in an analog manner, which brings the advantages of high-bandwidth and low-cost. Extensive modeling and tracking experiments are carried out to demonstrate the effectiveness of the proposed method. It is shown that the piezoelectric hysteresis nonlinearity can be significantly suppressed over a wide bandwidth.},
keywords = {Control Theory, Experimentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Quadrature_Monte_Carlo,
title = {Why simple quadrature is just as good as Monte Carlo},
author = {Kevin Vanslette and Abdullatif Al Alsheikh and Kamal Youcef-Toumi},
url = {http://dx.doi.org/10.1515/mcma-2020-2055},
doi = {10.1515/mcma-2020-2055},
issn = {1569-3961},
year  = {2020},
date = {2020-03-01},
journal = {Monte Carlo Methods and Applications},
volume = {26},
number = {1},
pages = {1–16},
publisher = {Walter de Gruyter GmbH},
abstract = {We motive and calculate Newton–Cotes quadrature integration variance and compare it directly with Monte Carlo (MC) integration variance. We find an equivalence between deterministic quadrature sampling and random MC sampling by noting that MC random sampling is statistically indistinguishable from a method that uses deterministic sampling on a randomly shuffled (permuted) function. We use this statistical equivalence to regularize the form of permissible Bayesian quadrature integration priors such that they are guaranteed to be objectively comparable with MC. This leads to the proof that simple quadrature methods have expected variances that are less than or equal to their corresponding theoretical MC integration variances. Separately, using Bayesian probability theory, we find that the theoretical standard deviations of the unbiased errors of simple Newton–Cotes composite quadrature integrations improve over their worst case errors by an extra dimension independent factor ∝ N−1/2 This dimension independent factor is validated in our simulations.},
keywords = {Computational Intelligence, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Simulation},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Confidence_Based_Hybrid_Tracking,
title = {Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation},
author = {L Yang and I Paranawithana and K Youcef-Toumi and U Tan},
doi = {10.1109/TASE.2019.2932724},
issn = {1558-3783},
year  = {2020},
date = {2020-01-01},
journal = {IEEE Transactions on Automation Science and Engineering},
volume = {17},
number = {1},
pages = {524-536},
publisher = {IEEE},
abstract = {This article proposes a confidence-based approach for combining two visual tracking techniques to minimize the influence of unforeseen visual tracking failures to achieve uninterrupted vision-based control. Despite research efforts in vision-guided micromanipulation, existing systems are not designed to overcome visual tracking failures, such as inconsistent illumination condition, regional occlusion, unknown structures, and nonhomogenous background scene. There remains a gap in expanding current procedures beyond the laboratory environment for practical deployment of vision-guided micromanipulation system. A hybrid tracking method, which combines motion-cue feature detection and score-based template matching, is incorporated in an uncalibrated vision-guided workflow capable of self-initializing and recovery during the micromanipulation. Weighted average, based on the respective confidence indices of the motion-cue feature localization and template-based trackers, is inferred from the statistical accuracy of feature locations and the similarity score-based template matches. Results suggest improvement of the tracking performance using hybrid tracking under the conditions. The mean errors of hybrid tracking are maintained at subpixel level under adverse experimental conditions while the original template matching approach has mean errors of 1.53, 1.73, and 2.08 pixels. The method is also demonstrated to be robust in the nonhomogeneous scene with an array of plant cells. By proposing a self-contained fusion method that overcomes unforeseen visual tracking failures using pure vision approach, we demonstrated the robustness in our developed low-cost micromanipulation platform.},
keywords = {Algorithms, Mechatronic Design, Nanotechnology, Physical System Modeling, Robotics &amp; Automation},
pubstate = {published},
tppubtype = {article}
}


@inproceedings{MRL_AFM_VR_Multi_Modal_Display,
title = {RecyGlide: A Forearm-Worn Multi-Modal Haptic Display Aimed to Improve User VR Immersion Submission},
author = {Juan Heredia and Jonathan Tirado and Vladislav Panov and Miguel Altamirano Cabrera and Kamal Youcef-Toumi and Dzmitry Tsetserukou},
url = {https://doi.org/10.1145/3359996.3364759},
doi = {10.1145/3359996.3364759},
isbn = {9781450370011},
year  = {2019},
date = {2019-11-01},
booktitle = {25th ACM Symposium on Virtual Reality Software and Technology},
pages = {1-2},
publisher = {Association for Computing Machinery},
abstract = {Haptic devices have been employed to immerse users in VR environments. In particular, hand and finger haptic devices have been deeply developed. However, this type of devices occludes hand detection for some tracking systems, or, for some other tracking systems, it is uncomfortable for the users to wear two different devices (haptic and tracking device) on both hands. We introduce RecyGlide, a novel wearable multimodal display located at the forearm. The RecyGlide is composed of inverted five-bar linkages with 2 degrees of freedom (DoF) and vibration motors (see Fig. 1.(a). The device provides multimodal tactile feedback such as slippage, force vector, pressure, and vibration. We tested the discrimination ability of monomodal and multimodal stimuli patterns on the forearm and confirmed that the multimodal patterns have higher recognition rate. This haptic device was used in VR applications, and we proved that it enhances VR experience and makes it more interactive.},
keywords = {Computational Intelligence, Control Theory, Data-driven learning for intelligent machine maintenance, Experimentation, intelligent systems, Mechatronic Design, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@article{MRL_Model_Validation_Testing,
title = {A general model validation and testing tool},
author = {Kevin Vanslette and Tony Tohme and Kamal Youcef-Toumi},
url = {https://www.sciencedirect.com/science/article/pii/S0951832019302571},
doi = {https://doi.org/10.1016/j.ress.2019.106684},
issn = {0951-8320},
year  = {2019},
date = {2019-10-28},
journal = {Reliability Engineering & System Safety},
volume = {195},
pages = {106684},
publisher = {Elsevier BV},
abstract = {We construct and propose the “Bayesian Validation Metric” (BVM) as a general model validation and testing tool. We find the BVM to be capable of representing all of the standard validation metrics (square error, reliability, probability of agreement, frequentist, area, probability density comparison, statistical hypothesis testing, and Bayesian model testing) as special cases and find that it can be used to improve, generalize, or further quantify their uncertainties. Thus, the BVM allows us to assess the similarities and differences between existing validation metrics in a new light. The BVM has the capacity to allow users to invent and select models according to novel validation requirements. We formulate and test a few novel compound validation metrics that improve upon other validation metrics in the literature. Further, we construct the BVM Ratio for the purpose of quantifying model selection under user defined definitions of agreement in the presence or absence of uncertainty. This construction generalizes the Bayesian model testing framework.},
keywords = {Algorithms, Computational Intelligence, Control Theory, Experimentation, intelligent systems, Probabilistic neural networks for robust machine learning, Simulation},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@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}
}


@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 &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@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}
}


@inproceedings{MRL_AFM_Cell_Segment_Targeting,
title = {Automatic Targeting of Plant Cells via Cell Segmentation and Robust Scene-Adaptive Tracking},
author = {Ishara Paranawithana and Zhong Hoo Chau and Liangjing Yang and Zhong Chen and Kamal Youcef-Toumi and U-Xuan Tan},
url = {https://ieeexplore.ieee.org/document/8793944},
doi = {10.1109/ICRA.2019.8793944},
isbn = {978-1-5386-6027-0},
year  = {2019},
date = {2019-08-12},
booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
pages = {7116-7122},
publisher = {IEEE},
organization = {IEEE},
abstract = {Automatic targeting of plant cells to perform tasks like extraction of chloroplast is often desired in the study of plant biology. Hence, this paper proposes an improved cell segmentation method combined with a robust tracking algorithm for vision-guided micromanipulation in plant cells. The objective of this work is to develop an automatic plant cell detection and localization technique to complete the automated workflow for plant cell manipulation. The complex structural properties of plant cells make both segmentation of cells and visual tracking of the microneedle immensely challenging, unlike single animal cell applications. Thus, an improved version of watershed segmentation with adaptive thresholding is proposed to detect the plant cells without the need for staining of the cells or additional tedious preparations. To manipulate the needle to reach the identified centroid of the cells, tracking of the needle tip is required. Visual and motion information from two data sources namely, template tracking and projected manipulator trajectory are combined using score-based normalized weighted averaging to continuously track the microneedle. The selection of trackers is influenced by their complementary nature as the former and latter are individually robust against physical and visual uncertainties, respectively. Experimental results validate the effectiveness of the proposed method by detecting plant cell centroids accurately, tracking the microneedle constantly and reaching the plant cell of interest despite the presence of visual disturbances.},
keywords = {Algorithms, Biological device for cancer cell characterization, Computational Intelligence, Experimentation, Mechatronic Design, Nanotechnology, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@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 &amp; Automation},
pubstate = {published},
tppubtype = {inproceedings}
}


@article{MRL_AFM_coated_probe,
title = {Lights Out! Nano-Scale Topography Imaging of Sample Surface in Opaque Liquid Environments with Coated Active Cantilever Probes},
author = {Fangzhou Xia and Chen Yang and Yi Wang and Kamal Youcef-Toumi and Christoph Reuter and Tzvetan Ivanov and Mathias Holz and Ivo W Rangelow},
url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6669515/},
doi = {10.3390/nano9071013},
year  = {2019},
date = {2019-07-09},
journal = {Nanomaterials},
volume = {9},
number = {7},
pages = {1013},
publisher = {Multidisciplinary Digital Publishing Institute},
abstract = {Atomic force microscopy is a powerful topography imaging method used widely in nanoscale metrology and manipulation. A conventional Atomic Force Microscope (AFM) utilizes an optical lever system typically composed of a laser source, lenses and a four quadrant photodetector to amplify and measure the deflection of the cantilever probe. This optical method for deflection sensing limits the capability of AFM to obtaining images in transparent environments only. In addition, tapping mode imaging in liquid environments with transparent sample chamber can be difficult for laser-probe alignment due to multiple different refraction indices of materials. Spurious structure resonance can be excited from piezo actuator excitation. Photothermal actuation resolves the resonance confusion but makes optical setup more complicated. In this paper, we present the design and fabrication method of coated active scanning probes with piezoresistive deflection sensing, thermomechanical actuation and thin photoresist polymer surface coating. The newly developed probes are capable of conducting topography imaging in opaque liquids without the need of an optical system. The selected coating can withstand harsh chemical environments with high acidity (e.g., 35% sulfuric acid). The probes are operated in various opaque liquid environments with a custom designed AFM system to demonstrate the imaging performance. The development of coated active probes opens up possibilities for observing samples in their native environments.},
keywords = {Experimentation, Fabrication, Full text available online, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Vectorized_Uncertainty_Input_Probability,
title = {Vectorized Uncertainty Propagation and Input Probability Sensitivity Analysis},
author = {Kevin Vanslette and Arwa Alanqari and Zeyad Al-awwad and Kamal Youcef-Toumi},
url = {https://arxiv.org/abs/1908.11246},
doi = {1908.11246v1},
year  = {2019},
date = {2019-06-04},
publisher = {King Abdulaziz City for Science and Technology},
abstract = {In this article we construct a theoretical and computational process for assessing Input Probability Sensitivity Analysis (IPSA) using a Graphics Processing Unit (GPU) enabled technique called Vectorized Uncertainty 
Propagation (VUP). VUP propagates probability distributions through 
a parametric computational model in a way that’s computational time 
complexity grows sublinearly in the number of distinct propagated input probability distributions. VUP can therefore be used to efficiently 
implement IPSA, which estimates a model’s probabilistic sensitivity to 
measurement and parametric uncertainty over each relevant measurement 
location. Theory and simulation illustrate the effectiveness of these methods.},
keywords = {Algorithms, Computational Intelligence, Experimentation, Uncertainty estimation and calibration for modeling},
pubstate = {published},
tppubtype = {article}
}


@inproceedings{MRL_AFM_Training_CB_Recycling,
title = {See the E-Waste! Training Visual Intelligence to See Dense Circuit Boards for Recycling},
author = {Ali Jahanian and Quang H Le and Kamal Youcef-Toumi and Dzmitry Tsetserukou},
url = {https://openaccess.thecvf.com/content_CVPRW_2019/html/cv4gc/Jahanian_See_the_E-Waste_Training_Visual_Intelligence_to_See_Dense_Circuit_CVPRW_2019_paper.html},
year  = {2019},
date = {2019-06-01},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
abstract = {The state-of-the-art semantic segmentation and object detection deep learning models are taking the leap to generalize and leverage automation, but have yet to be useful in real-world tasks such as those in dense circuit board robotic manipulation. Consider a cellphone circuit board that because of small components and a couple of hundred microns gaps between them challenges any manipulation task. For effective automation and robotics usage in manufacturing, we tackle this problem by building a convolutional neural networks optimized for multi-task learning of instance semantic segmentation and detection while accounting for crisp boundaries of small components inside dense boards. We explore the feature learning mechanism, and add the auxiliary task of boundary detection to encourage the network to learn the objects' geometric properties along with the other objectives. We examine the performance of the networks in the visual tasks (separately and all together), and the extent of generalization on the recycling phone dataset. Our network outperformed the state-of-the-art in the visual tasks while maintaining the high speed of computation. To facilitate this globally concerning topic, we provide a benchmark for Ewaste visual tasks research, and publicize our collected dataset and code, as well as demos on our in-lab robot at https://github.com/MIT-MRL/recybot. pubstate = published},
keywords = {Algorithms, Automated cellphone recycling, Computational Intelligence, Experimentation, Mechatronic Design, Robotics &amp; Automation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@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&#x2013;retarder ellipsometry, it is critical for the data reduction technique to achieve a minimal data processing burden while considering the ease of retarder control. In this paper, we propose an unevenly spaced sampling strategy to reach a globally optimal measurement matrix with minimum sampling points for continuous measurements. Taking into account the robustness to both systematic errors and detection noise, we develop multi-objective optimization models to identify the optimal unevenly spaced sampling points. A combined global search algorithm based on the multi-objective genetic algorithm is subsequently designed to solve our model. Finally, simulations and experiments are conducted to validate our approach as well as to provide near-optimal schemes for different design scenarios. The results demonstrate that significant improvement on error immunity performance can be achieved by applying an unevenly sampled measurement strategy compared to an evenly sampled one for our ellipsometer scenario.},
keywords = {Algorithms, Computational Intelligence, Intelligent optical characterization for nano-manufacturing, Nanotechnology, Physical System Modeling},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Charge_Controller_Self_Compensating,
title = {Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth},
author = {Chen Yang and Changle Li and Fangzhou Xia and Yanhe Zhu and Jie Zhao and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/8466119},
doi = {10.1109/TIE.2018.2868321},
year  = {2018},
date = {2018-09-14},
journal = {IEEE Transactions on Industrial Electronics},
volume = {66},
number = {7},
pages = {5392--5402},
publisher = {IEEE},
abstract = {Charge control is a well-known sensorless approach to operate piezoelectric actuators, which has been proposed for more than 30 years. However, it is rarely used in industry because the implemented controllers suffer from the issues of limited low-frequency performance, long settling time, floating-load, and loss of stroke, etc. In this paper, a novel controller circuit dedicated to overcome these issues is presented. In the proposed scheme, a grounded-load charge controller with decoupled configuration is developed, which separates high-frequency and low-frequency paths, thus achieving arbitrarily low transition frequency without increasing the settling time. Based on this, a self-compensating configuration is further proposed and integrated into the controller circuit, which makes full use of controller output to improve its own control performance at low frequencies. Experimental results show that the presented charge controller can effectively reduce more than 88% of the hysteretic nonlinearity even when operating close to the transition frequency. To demonstrate its practical value, we then integrate it into a custom-designed high-speed atomic force microscope system. By comparing images obtained from using voltage drive and charge controller, it is clear that the piezoelectric hysteresis has been significantly reduced in a wide bandwidth.},
keywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@article{MRL_AFM_Gossip_Protocal_Internet_App,
title = {Context-Aware Gossip-Based Protocol for Internet of Things Applications},
author = {Lina Altoaimy and Arwa Alromih and Shiroq Al-Megren and Ghada Al-Hudhud and Heba Kurdi and Kamal Youcef-Toumi},
url = {https://www.mdpi.com/1424-8220/18/7/2233},
doi = {10.3390/s18072233},
issn = {1424-8220},
year  = {2018},
date = {2018-07-11},
journal = {Sensors},
volume = {18},
number = {7},
publisher = {MDPI},
abstract = {This paper proposes a gossip-based protocol that utilises a multi-factor weighting function (MFWF) that takes several parameters into account: residual energy, Chebyshev distances to neighbouring nodes and the sink node, node density, and message priority. The effects of these parameters were examined to guide the customization of the weight function to effectively disseminate data to three types of IoT applications: critical, bandwidth-intensive, and energy-efficient applications. The performances of the three resulting MFWFs were assessed in comparison with the performances of the traditional gossiping protocol and the Fair Efficient Location-based Gossiping (FELGossiping) protocol in terms of end-to-end delay, network lifetime, rebroadcast nodes, and saved rebroadcasts. The experimental results demonstrated the proposed protocol&rsquo;s ability to achieve a much shorter delay for critical IoT applications. For bandwidth-intensive IoT application, the proposed protocol was able to achieve a smaller percentage of rebroadcast nodes and an increased percentage of saved rebroadcasts, i.e., better bandwidth utilisation. The adapted MFWF for energy-efficient IoT application was able to improve the network lifetime compared to that of gossiping and FELGossiping. These results demonstrate the high level of flexibility of the proposed protocol with respect to network context and message priority.},
keywords = {Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_MultiCuckoo,
title = {MultiCuckoo: Multi-Cloud Service Composition Using a Cuckoo-Inspired Algorithm for the Internet of Things Applications},
author = {H Kurdi and F Ezzat and L Altoaimy and S H Ahmed and K Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/8476294?denied=},
doi = {10.1109/ACCESS.2018.2872744},
issn = {2169-3536},
year  = {2018},
date = {2018-01-01},
journal = {IEEE Access},
volume = {6},
pages = {56737-56749},
publisher = {IEEE},
abstract = {Internet of things (IoT) applications aim to provide access to widespread interconnected networks of smart devices, services, and information. This can be achieved by integrating IoT and cloud computing (CC). By using cloud computing service composition (SC), multiple services from various providers can be combined to meet users' requirements. However, SC is known for its complexity and is classified as an NP-hard problem; such problems are usually approached using heuristics, such as bioinspired algorithms. This paper aims at developing a bio-inspired algorithm that mimics the behavior of cuckoo birds (which examine the nests of other birds to find eggs similar to their own) to find a composite service that fulfills a user's request in a multi-cloud environment (MCE). Previous work on cuckoo-inspired algorithms has generally utilized metaheuristics, which try to fit a “good”solution to a general optimization problem. In contrast, we propose a problem-dependent heuristic that considers the SC problem and its particularities in MCE. The proposed algorithm, MultiCuckoo, was thoroughly evaluated based on a well-controlled experimental framework that benchmarks the performance of the new algorithm to other outstanding SC algorithms, including the all clouds combination algorithm, base cloud combination algorithm, and combinatorial optimization algorithm for multiple cloud service Composition. The results show that our algorithm is more efficient in terms of decreasing the number of examined services, the composed clouds, and the running time in comparison to the benchmark algorithms.},
keywords = {Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems, Mechatronic Design, Simulation},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_active_probe_review,
title = {Review Article: Active scanning probes: A versatile toolkit for fast imaging and emerging nanofabrication},
author = {Ivo W Rangelow and Tzvetan Ivanov and Ahmad Ahmad and Marcus Kaestner and Claudia Lenk and Iman Soltani Bozchalooi and Fangzhou Xia and Kamal Youcef-Toumi and Mathias Holz and Alexander Reum},
url = {https://avs.scitation.org/doi/full/10.1116/1.4992073},
doi = {10.1116/1.4992073},
year  = {2017},
date = {2017-11-03},
journal = {Journal of Vacuum Science &amp;amp; Technology B, Nanotechnology and Microelectronics: Materials, Processing, Measurement, and Phenomena},
volume = {35},
number = {6},
pages = {06G101},
publisher = {American Vacuum Society},
abstract = {With the recent advances in the field of nanotechnology, measurement and manipulation requirements at the nanoscale have become more stringent than ever before. In atomic force microscopy, high-speed performance alone is not sufficient without considerations of other aspects of the measurement task, such as the feature aspect ratio, required range, or acceptable probe-sample interaction forces. In this paper, the authors discuss these requirements and the research directions that provide the highest potential in meeting them. The authors elaborate on the efforts toward the downsizing of self-sensed and self-actuated probes as well as on upscaling by active cantilever arrays. The authors present the fabrication process of active probes along with the tip customizations carriedout targeting specific application fields. As promising application in scope of nanofabrication, field emission scanning probe lithography is introduced. The authors further discuss their control and design approach. Here, microactuators, e.g., multilayer microcantilevers, and macroactuators, e.g., flexure scanners, are combined in order to simultaneously meet both the range and speed requirements of a new generation of scanning probe microscopes.},
keywords = {Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Automatic_Micromanipulation,
title = {Automatic Vision-Guided Micromanipulation for Versatile Deployment and Portable Setup},
author = {L Yang and I Paranawithana and K Youcef-Toumi and U Tan},
doi = {10.1109/TASE.2017.2754517},
issn = {1558-3783},
year  = {2017},
date = {2017-10-23},
journal = {IEEE Transactions on Automation Science and Engineering},
volume = {15},
number = {4},
pages = {1609-1620},
publisher = {IEEE},
abstract = {In this paper, an automatic vision-guided micromanipulation approach to facilitate versatile deployment and portable setup is proposed. This paper is motivated by the importance of micromanipulation and the limitations in existing automation technology in micromanipulation. Despite significant advancements in micromanipulation techniques, there remain bottlenecks in integrating and adopting automation for this application. An underlying reason for the gaps is the difficulty in deploying and setting up such systems. To address this, we identified two important design requirements, namely, portability and versatility of the micromanipulation platform. A self-contained vision-guided approach requiring no complicated preparation or setup is proposed. This is achieved through an uncalibrated self-initializing workflow algorithm also capable of assisted targeting. The feasibility of the solution is demonstrated on a low-cost portable microscope camera and compact actuated microstages. Results suggest subpixel accuracy in localizing the tool tip during initialization steps. The self-focus mechanism could recover intentional blurring of the tip by autonomously manipulating it 95.3% closer to the focal plane. The average error in visual servo is less than a pixel with our depth compensation mechanism showing better maintaining of similarity score in tracking. Cell detection rate in a 1637-frame video stream is 97.7% with subpixels localization uncertainty. Our work addresses the gaps in existing automation technology in the application of robotic vision-guided micromanipulation and potentially contributes to the way cell manipulation is performed.},
keywords = {Control Theory, Mechatronic Design, Physical System Modeling, Robot operated modular fixtures, Robotics &amp; Automation},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_MPPT_Controller_Ants,
title = {A new MPPT controller based on the Ant colony optimization algorithm for Photovoltaic systems under partial shading conditions},
author = {Sabrina Titri and Cherif Larbes and Kamal Youcef Toumi and Karima Benatchba},
url = {https://www.sciencedirect.com/science/article/pii/S1568494617302703},
doi = {https://doi.org/10.1016/j.asoc.2017.05.017},
issn = {1568-4946},
year  = {2017},
date = {2017-09-01},
journal = {Applied Soft Computing},
volume = {58},
pages = {465-479},
abstract = {The Maximum Power Point Tracking controller (MPPT) is a key element in Photovoltaic systems (PV). It is used to maintain the PV operating point at its maximum under different temperatures and sunlight irradiations. The goal of a MPPT controller is to satisfy the following performances criteria: accuracy, precision, speed, robustness and handling the partial shading problem when climatic changes variations occur. To achieve this goal, several techniques have been proposed ranging from conventional methods to artificial intelligence and bio-inspired methods. Each technique has its own advantage and disadvantage. In this context, we propose in this paper, a new Bio- inspired MPPT controller based on the Ant colony Optimization algorithm with a New Pheromone Updating strategy (ACO_NPU MPPT) that saves the computation time and performs an excellent tracking capability with high accuracy, zero oscillations and high robustness. First, the different steps of the design of the proposed ACO_NPU MPPT controller are developed. Then, several tests are performed under standard conditions for the selection of the appropriate ACO_NPU parameters (number of ants, coefficients of evaporation, archive size, etc.). To evaluate the performances of the obtained ACO_NPU MPPT, in terms of its tracking speed, accuracy, stability and robustness, tests are carried out under slow and rapid variations of weather conditions (Irradiance and Temperature) and under different partial shading patterns. Moreover, to demonstrate the superiority and robustness of the proposed ACO_NPU_MPPT controller, the obtained results are analyzed and compared with others obtained from the Conventional Methods (P&O_MPPT) and the Soft Computing Methods with Artificial intelligence (ANN_MPPT, FLC_MPPT, ANFIS_MPPT, FL_GA_MPPT) and with the Bio Inspired methods (PSO) and (ACO) from the literature. The obtained results show that the proposed ACO_NPU MPPT controller gives the best performances under variables atmospheric conditions. In addition, it can easily track the global maximum power point (GMPP) under partial shading conditions.},
keywords = {Algorithms, Computational Intelligence, intelligent systems, Mechatronic Design, Probabilistic neural networks for robust machine learning, Simulation},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@article{MRL_AFM_Channel_Modeling,
title = {Channel modeling and testing of wireless transmission for underground in-pipe leak and material loss detection},
author = {S Mekid and D Wu and R Hussain and K Youcef-Toumi},
url = {https://doi.org/10.1177/1550147717744715},
doi = {10.1177/1550147717744715},
issn = {1550147717744715},
year  = {2017},
date = {2017-01-01},
journal = {International Journal of Distributed Sensor Networks},
volume = {13},
number = {11},
pages = {1550147717744715},
publisher = {Sage},
abstract = {A systematic real-time methodology is adopted for leak detection in underground buried pipes. The wireless communication system is used to analyze the system performance based on the received power by monopole antenna deployed at the receiving side. Instrumentation designed for underground measurement and control such as leak and materials loss detection needs wireless communications to aboveground in both ways and in real-time mode. This constitutes one of the timely and challenging issues of battery-operated systems. The purpose of this work is to characterize the radio transmission between underground buried pipes and base station using multi-layer media including both theoretical and experimental approaches by utilizing various modulation schemes. The objective is to identify the range of operating communication frequencies having lower energy loss, lower resulting bit error rate, and the power needed to transfer packets designed to carry data through the media. This will support the on-device power management to secure large autonomy operations. Experimental tests have shown that the overall received energy was mixed with ambient energy if the latter is sent at the same frequency and that the optimum frequency range used to transmit energy was rather at low frequency range of 100–200 MHz.},
keywords = {Fabrication, Inspection, Inspection; repair and intelligence for water distribution pipes, Instrumentation, Mechatronic Design, Nanotechnology, Physical System Modeling},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Terminal_Trajectory_Tracking,
title = {Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles},
author = {Taha Elmokadem and Mohamed Zribi and Kamal Youcef-Toumi},
url = {https://www.sciencedirect.com/science/article/pii/S0029801816304759},
doi = {https://doi.org/10.1016/j.oceaneng.2016.10.032},
issn = {0029-8018},
year  = {2016},
date = {2016-11-06},
journal = {Ocean Engineering},
volume = {129},
pages = {613-625},
publisher = {elsevier},
abstract = {The aim of this paper is to develop robust control schemes for the lateral motion of underactuated autonomous underwater vehicles (AUVs). The AUV complex dynamics makes their control a challenging task. These challenges include the AUV nonlinear dynamics, unmodeled dynamics, system uncertainties and environmental disturbances. The objective of the proposed control schemes is to solve the trajectory tracking problem of AUVs. These controllers are designed using the concepts of terminal sliding mode control. The control performance of an example AUV (the REMUS AUV), using the proposed control schemes, is evaluated through computer simulations. The simulation results show that the proposed control schemes work well. Moreover, simulation studies are given to evaluate the performance of the proposed control schemes when bounded disturbances are acting on the vehicle. These studies indicate that the proposed control schemes are robust under bounded disturbances.},
keywords = {Computer vision for autonomous vehicle sensing, Instrumentation, Mechatronic Design, Physical System Modeling, Robotics &amp; Automation},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Comparison_Industrial_Social_Welfare,
title = {Demand side management in power grid enterprise control: A comparison of industrial & social welfare approaches},
author = {Bo Jiang and Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},
url = {https://www.sciencedirect.com/science/article/pii/S0306261916315410},
doi = {https://doi.org/10.1016/j.apenergy.2016.10.096},
issn = {0306-2619},
year  = {2016},
date = {2016-10-25},
journal = {Applied Energy},
volume = {187},
pages = {833-846},
publisher = {ScienceDirect},
abstract = {Despite the recognized importance of demand side management (DSM) for mitigating the impact of variable energy resources and reducing the system costs, the academic and industrial literature have taken divergent approaches to DSM implementation. The prequel to this paper has demonstrated that the netload baseline inflation – a feature particular to the industrial DSM unit commitment formulation – leads to higher and costlier day-ahead scheduling compared to the academic social welfare method. This paper now expands this analysis from a single optimization problem to the full power grid enterprise control with its multiple control layers at their associated time scales. These include unit commitment, economic dispatch and regulation services. It compares the two DSM formulations and quantifies the technical and economic impacts of industrial baseline errors in the day-ahead and real-time markets. The paper concludes that the presence of baseline errors – present only in the industrial model – leads to a cascade of additional system imbalances and costs as compared to the social welfare model. A baseline error introduced in the unit commitment problem will increase costs not just in the day-ahead market, but will also introduce a greater netload error residual in the real-time market causing additional cost and imbalances. These imbalances if left unmitigated degrade system reliability or otherwise require costly regulating reserves to achieve the same performance. An additional baseline error introduced in the economic dispatch further compounds this cascading effect with additional costs in the real-time market, amplified downstream imbalances, and further regulation capacity for its mitigation.},
keywords = {Algorithms, Control Theory, Experimentation, Robot operated modular fixtures, Robotics &amp; Automation, Simulation},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Environmental_Dust,
title = {Characterization of Environmental Dust in the Dammam Area and Mud After-Effects on Bisphenol-A Polycarbonate Sheets},
author = {Bekir Yilbas and Haider Ali and Naseer Al-Aqeeli and Mazen Khaled and Syed Said and Abu Dheir N and Necar Merah and Kamal Youcef-Toumi and Kripa Varanasi},
doi = {10.1038/srep24308},
issn = {24308},
year  = {2016},
date = {2016-04-16},
journal = {Scientific Reports},
volume = {6},
pages = {24308},
publisher = {Nature},
abstract = {Owing to recent climate changes, dust storms are increasingly common, particularly in the Middle East region. Dust accumulation and subsequent mud formation on solid surfaces in humid environments typically have adverse effects on surface properties such as optical transmittance, surface texture and microhardness. This is usually because the mud, which contains alkaline and ionic species, adheres strongly to the surface, often through chemical bonds and is therefore difficult to remove. In this study, environmental dust and the after-effects of mud formed on a polycarbonate sheet, which is commonly used as a protective glass in photovoltaic cells. Ionic compounds (OH−) are shown to significantly affect the optical, mechanical and textural characteristics of the polycarbonate surface and to increase the adhesion work required to remove the dry mud from the polycarbonate surface upon drying. Such ability to modify characteristics of the polycarbonate surface could address the dust/mud-related limitations of superhydrophobic surfaces.},
keywords = {Data-driven learning for intelligent machine maintenance, Mechatronic Design, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_LRHS_imaging,
title = {Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging},
author = {Iman Soltani Bozchalooi and Andrew Careaga Houck and Jwaher M. AlGhamdi and Kamal Youcef-Toumi},
url = {http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c},
doi = {https://doi.org/10.1016/j.ultramic.2015.10.016},
issn = {0304-3991},
year  = {2016},
date = {2016-01-01},
volume = {160},
pages = {213 - 224},
abstract = {This paper presents the design and control of a high-speed and large-range atomic force microscopy (AFM). A multi-actuation scheme is proposed where several nano-positioners cooperate to achieve the range and speed requirements. A simple data-based control design methodology is presented to effectively operate the AFM scanner components. The proposed controllers compensate for the coupled dynamics and divide the positioning responsibilities between the scanner components. As a result, the multi-actuated scanner behavior is equivalent to that of a single X–Y–Z positioner with large range and high speed. The scanner of the designed AFM is composed of five nano-positioners, features 6μm out-of-plane and 120μm lateral ranges and is capable of high-speed operation. The presented AFM has a modular design with laser spot size of 3.5μm suitable for small cantilever, an optical view of the sample and probe, a conveniently large waterproof sample stage and a 20MHz data throughput for high resolution image acquisition at high imaging speeds. This AFM is used to visualize etching of calcite in a solution of sulfuric acid. Layer-by-layer dissolution and pit formation along the crystalline lines in a low pH environment is observed in real time.},
keywords = {Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Simulation, Visualization},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_Market_Integration_Power_System,
title = {Relative merits of load following reserves & energy storage market integration towards power system imbalances},
author = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},
url = {https://www.sciencedirect.com/science/article/pii/S0142061515002999},
doi = {https://doi.org/10.1016/j.ijepes.2015.07.013},
issn = {0142-0615},
year  = {2016},
date = {2016-01-01},
journal = {International Journal of Electrical Power & Energy Systems},
volume = {74},
pages = {222-229},
publisher = {ScienceDirect},
abstract = {Traditionally, power system balancing operations consist of three consecutive control techniques, namely security-constrained unit commitment (SCUC), security-constrained economic dispatch (SCED), and automatic generation control (AGC). Each of these have their corresponding type of operating reserves. Similarly, energy storage resources (ESRs) may be integrated as energy, load following, or regulation resources. A review of the existing literature shows that most ESR integration studies are focused on a single control function. In contrast, recent work on renewable energy integration has employed the concept of enterprise control where the multiple layers of balancing operations have been integrated into a single model. This paper now uses such an enterprise control model to demonstrate the relative merits of load following reserves and energy storage integrated into the resource scheduling and balancing action layers. The results show that load following reserves and energy storage resources mitigate imbalances in fundamentally different ways. The latter becomes an increasingly effective balancing resource for high net-load variability and small day-ahead market time step.},
keywords = {Control Theory, intelligent systems, Modeling; sizing and control for smart grids, Visualization},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@article{MRL_AFM_Holistic_Assessment_Electricity_Grid,
title = {The need for holistic enterprise control assessment methods for the future electricity grid},
author = {Amro M Farid and Bo Jiang and Aramazd Muzhikyan and Kamal Youcef-Toumi},
url = {https://www.sciencedirect.com/science/article/pii/S1364032115012599},
doi = {https://doi.org/10.1016/j.rser.2015.11.007},
issn = {1364-0321},
year  = {2015},
date = {2015-12-17},
journal = {Renewable and Sustainable Energy Reviews},
volume = {56},
pages = {669-685},
publisher = {elsevier},
abstract = {Recently, the academic and industrial literature has coalesced around an enhanced vision of the electric power grid that is responsive, dynamic, adaptive and flexible. As driven by decarbonization, reliability, transportation electrification, consumer participation and deregulation, this future grid will undergo technical, economic and regulatory changes to bring about the incorporation of renewable energy and incentivized demand side management and control. As a result, the power grid will experience fundamental changes in its physical system structure and behavior that will consequently require enhanced and integrated control, automation, and IT-driven management functions in what is called enterprise control. While these requirements will open a plethora of opportunities for new control technologies, many of these solutions are largely overlapping in function. Their overall contribution to holistic techno-economic control objectives and their underlying dynamic properties are less than clear. Piece-meal integration and a lack of coordinated assessment could bring about costly-overbuilt solutions or even worse unintended reliability consequences. This work, thus, reviews these existing trends in the power grid evolution. It then motivates the need for holistic methods of integrated assessment that manage the diversity of control solutions against their many competing objectives and contrasts these requirements to existing variable energy resource integration studies. The work concludes with a holistic framework for “enterprise control” assessment of the future power grid and suggests directions for future work.},
keywords = {Algorithms, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Surface_Wetting_Poly_Surfaces,
title = {Surface and wetting characteristics of textured bisphenol-A based polycarbonate surfaces: Acetone-induced crystallization texturing methods},
author = {Ahmed Owais and Mazen M Khaled and Bekir S Yilbas and Numan Abu-Dheir and Kripa K Varanasi and Kamal Y Toumi},
url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/app.43074},
doi = {https://doi.org/10.1002/app.43074},
issn = {43074},
year  = {2015},
date = {2015-11-12},
journal = {Journal of Applied Polymer Science},
volume = {133},
number = {14},
publisher = {Wiley},
abstract = {ABSTRACT Polycarbonate (PC) sheet is a promising material for facile patterning to induce hydrophobic self-cleaning and dust repelling properties for photovoltaic panels’ protection. An investigation to texture PC sheet surfaces to develop a self-cleaning structure using solvent induced-crystallization is carried out using acetone. Acetone is applied in both liquid and vapor states to generate a hierarchically structured surface that would improve its contacts angle and therefore improve hydrophobicity. The surface texture is investigated and characterized using atomic force microscopy, contact angle technique (Goniometer), optical microscopy, ultraviolet-visible spectroscopy (UV–vis) and Fourier transform infrared spectroscopy. The findings revealed that the liquid acetone-induced crystallization of PC surface leads to a hierarchal and hydrophobic surface with an average contact angle of 135° and average transmittance <2%. However, the acetone vapor induced-crystallization results in a slightly hydrophilic hierarchal textured surface with high transmittance; in which case, average contact angle of 89° and average transmittance of 69% are achieved. © 2015 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2016, 133, 43074.},
keywords = {Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@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}
}


@article{MRL_Multi_Eigenmode,
title = {Multi-eigenmode control for high material contrast in bimodal and higher harmonic atomic force microscopy},
author = {Andreas Schuh and Iman Soltani Bozchalooi and Ivo W Rangelow and Kamal Youcef-Toumi},
url = {https://doi.org/10.1088/0957-4484/26/23/235706},
doi = {10.1088/0957-4484/26/23/235706},
year  = {2015},
date = {2015-05-01},
journal = {Nanotechnology},
volume = {26},
number = {23},
pages = {235706},
publisher = {IOP Publishing},
abstract = {High speed imaging and mapping of nanomechanical properties in atomic force microscopy (AFM) allows the observation and characterization of dynamic sample processes. Recent developments involve several cantilever frequencies in a multifrequency approach. One method actuates the first eigenmode for topography imaging and records the excited higher harmonics to map nanomechanical properties of the sample. To enhance the higher frequencies’ response two or more eigenmodes are actuated simultaneously, where the higher eigenmode(s) are used to quantify the nanomechanics. In this paper, we combine each imaging methodology with a novel control approach. It modifies the Q factor and resonance frequency of each eigenmode independently to enhance the force sensitivity and imaging bandwidth. It allows us to satisfy the different requirements for the first and higher eigenmode. The presented compensator is compatible with existing AFMs and can be simply attached with minimal modifications. Different samples are used to demonstrate the improvement in nanomechanical contrast mapping and imaging speed of tapping mode AFM in air. The experiments indicate most enhanced nanomechanical contrast with low Q factors of the first and high Q factors of the higher eigenmode. In this scenario, the cantilever topography imaging rate can also be easily improved by a factor of 10.},
keywords = {Algorithms, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Agreecan_Nanoscale_Solid,
title = {Aggrecan Nanoscale Solid–Fluid Interactions Are a Primary Determinant of Cartilage Dynamic Mechanical Properties},
author = {Hadi Nia and Lin Han and Iman Soltani and Peter Roughley and Kamal Youcef-Toumi and Alan Grodzinsky and Christine Ortiz},
doi = {10.1021/nn5062707},
issn = {2614-2625},
year  = {2015},
date = {2015-03-10},
journal = {ACS nano},
volume = {9},
publisher = {ACS},
abstract = {Poroelastic interactions between interstitial fluid and the extracellular 
matrix of connective tissues are critical to biological and pathophysiological functions 
involving solute transport, energy dissipation, self-stiffening and lubrication. However, 
the molecular origins of poroelasticity at the nanoscale are largely unknown. Here, the 
broad-spectrum dynamic nanomechanical behavior of cartilage aggrecan monolayer is 
revealed for the first time, including the equilibrium and instantaneous moduli and the 
peak in the phase angle of the complex modulus. By performing a length scale study 
and comparing the experimental results to theoretical predictions, we confirm that the 
mechanism underlying the observed dynamic nanomechanics is due to solidfluid 
interactions (poroelasticity) at the molecular scale. Utilizing finite element modeling, the molecular-scale hydraulic permeability of the aggrecan assembly was quantified (kaggrecan = (4.8 ( 2.8) 1015 m4 
/N 3 s) and found to be similar to the nanoscale hydraulic permeability of intact normal cartilage tissue 
but much lower than that of early diseased tissue. The mechanisms underlying aggrecan poroelasticity were further investigated by altering electrostatic 
interactions between the molecule's constituent glycosaminoglycan chains: electrostatic interactions dominated steric interactions in governing molecular 
behavior. While the hydraulic permeability of aggrecan layers does not change across species and age, aggrecan from adult human cartilage is stiffer than 
the aggrecan from newborn human tissue.},
keywords = {Experimentation, Fabrication, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@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}
}


@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}
}


@article{MRL_AFM_Enterprise_Control_Assessment,
title = {An Enterprise Control Assessment Method for Variable Energy Resource-Induced Power System Imbalances—Part II: Parametric Sensitivity Analysis},
author = {A Muzhikyan and A M Farid and K Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/7018074?denied=},
doi = {10.1109/TIE.2015.2395380},
issn = {1557-9948},
year  = {2015},
date = {2015-01-22},
journal = {IEEE Transactions on Industrial Electronics},
volume = {62},
number = {4},
pages = {2459-2467},
publisher = {IEEE},
abstract = {In recent years, renewable energy has developed to address energy security and climate change drivers. However, as energy resources, they possess a variable and uncertain nature that significantly complicates grid balancing operations. As a result, an extensive academic and industrial literature has developed to determine how much such variable energy resources (VERs) may be integrated and how to best mitigate their impacts. While certainly insightful with the context of their application, many integration studies have methodological limitations because they are case specific, address a single control function of the power grid balancing operations, and are often not validated by simulation. The prequel to this paper presented a holistic method for the assessment of power grid imbalances induced by VERs based upon the concept of enterprise control. This paper now systematically studies these power grid imbalances in terms of five independent variables: 1) day-ahead market time step; 2) real-time market time step; 3) VER normalized variability; 4) normalized day-ahead VER forecast error; and 5) normalized short-term VER forecast error. The systematic study elucidates the impacts of these variables and provides significant insights as to how planners should address these independent variables in the future.},
keywords = {Algorithms, Control Theory, intelligent systems, Modeling, Simulation, sizing and control of smart grids},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@article{MRL_AFM_Noise_Control_Decoupling,
title = {Noise and control decoupling of Advanced LIGO suspensions},
author = {B N Shapiro and R Adhikari and J Driggers and J Kissel and B Lantz and J Rollins and K Youcef-Toumi},
url = {https://doi.org/10.1088/0264-9381/32/1/015004},
doi = {10.1088/0264-9381/32/1/015004},
year  = {2014},
date = {2014-12-10},
journal = {Classical and Quantum Gravity},
volume = {32},
number = {1},
pages = {015004},
publisher = {IOP Publishing},
abstract = {Ground-based interferometric gravitational wave observatories such as Advanced LIGO must isolate their optics from ground vibrations with suspension systems to meet their stringent noise requirements. These suspensions typically have very high quality-factor resonances that require active damping. The sensor noise associated with this damping is a potential significant contributor to the sensitivity of these interferometers. This paper introduces a novel scheme for suspension damping that isolates much of this noise and permits greater amounts of damping. It also decouples the damping feedback design from the interferometer control. The scheme works by invoking a change from a local coordinate frame associated with each suspension, to a coordinate frame aligned with the interferometric readout. In this way, degrees of freedom invisible to the readout can employ effective, but noisy damping. The degree of freedom measured by the readout is then damped using low noise interferometer signals, eliminating the need to use the usual noisy sensors. Simulated and experimental results validate the concepts presented in this paper.},
keywords = {Control Theory, Experimentation, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling, Visualization},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_State_Estimation_Power,
title = {Event triggered state estimation techniques for power systems with integrated variable energy resources},
author = {Reshma C Francy and Amro M Farid and Kamal Youcef-Toumi},
url = {https://doi.org/10.1016/j.isatra.2014.11.001},
doi = {10.1016/j.isatra.2014.11.001},
issn = {0019-0578},
year  = {2014},
date = {2014-11-24},
journal = {ISA transactions},
volume = {56},
pages = {165—172},
abstract = {For many decades, state estimation (SE) has been a critical technology for energy management systems utilized by power system operators. Over time, it has become a mature technology that provides an accurate representation of system state under fairly stable and well understood system operation. The integration of variable energy resources (VERs) such as wind and solar generation, however, introduces new fast frequency dynamics and uncertainties into the system. Furthermore, such renewable energy is often integrated into the distribution system thus requiring real-time monitoring all the way to the periphery of the power grid topology and not just the (central) transmission system. The conventional solution is two fold: solve the SE problem (1) at a faster rate in accordance with the newly added VER dynamics and (2) for the entire power grid topology including the transmission and distribution systems. Such an approach results in exponentially growing problem sets which need to be solver at faster rates. This work seeks to address these two simultaneous requirements and builds upon two recent SE methods which incorporate event-triggering such that the state estimator is only called in the case of considerable novelty in the evolution of the system state. The first method incorporates only event-triggering while the second adds the concept of tracking. Both SE methods are demonstrated on the standard IEEE 14-bus system and the results are observed for a specific bus for two difference scenarios: (1) a spike in the wind power injection and (2) ramp events with higher variability. Relative to traditional state estimation, the numerical case studies showed that the proposed methods can result in computational time reductions of 90. These results were supported by a theoretical discussion of the computational complexity of three SE techniques. The work concludes that the proposed SE techniques demonstrate practical improvements to the computational complexity of classical state estimation. In such a way, state estimation can continue to support the necessary control actions to mitigate the imbalances resulting from the uncertainties in renewables.},
keywords = {Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@inproceedings{MRL_WDP_Leak_Detecting_Robot,
title = {MIT Leak Detector: An in-pipe leak detection robot},
author = {Dimitris Chatzigeorgiou and You Wu and Kamal Youcef-Toumi and Rached Ben-Mansour},
url = {https://ieeexplore.ieee.org/document/6907144},
doi = {10.1109/ICRA.2014.6907144},
isbn = {978-1-4799-3685-4},
year  = {2014},
date = {2014-09-24},
booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2091-2091},
publisher = {IEEE},
organization = {IEEE},
abstract = {In this work we present a new in-pipe leak detection robot, the MIT Leak Detector. The system performs autonomous leak detection in gas pipes in a reliable and robust fashion. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. As the MIT Leak Detector travels through pipes, it picks up the pressure gradient in case of leaks via a carefully designed detector. In this work we demonstrate the performance of the system in a lab setup, which consists of 100mm ID pipes containing pressurized air.},
keywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@inproceedings{MRL_WDP_Analysis_Leak_Detection,
title = {Modeling and analysis of an in-pipe robotic leak detector},
author = {Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Rached Ben-Mansour},
url = {https://ieeexplore.ieee.org/abstract/document/6907341},
doi = {10.1109/ICRA.2014.6907341},
isbn = {978-1-4799-3685-4},
year  = {2014},
date = {2014-09-24},
booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3351-3357},
publisher = {IEEE},
abstract = {Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.},
keywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@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}
}


@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}
}


@inproceedings{MRL_SG_Reserve_Quantification,
title = {An enhanced method for the determination of load following reserves},
author = {Aramazd Muzhikyan and A M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6859254&isnumber=6858556},
doi = {10.1109/ACC.2014.6859254},
isbn = {978-1-4799-3274-0},
year  = {2014},
date = {2014-07-21},
booktitle = {2014 American Control Conference},
pages = {926-933},
publisher = {IEEE},
organization = {IEEE},
abstract = {Power generation reserves play a central role for maintaining the balance of generation and consumption. Reserves, scheduled in advance, compensate for forecast error, variability and transmission losses. However, as reserves are a costly commodity, their amount should be carefully assessed to prevent unnecessary expense. Currently, the quantity of required reserves are determined based upon a posteriori methods that use operator's experience and established assumptions. This paper instead presents a method founded upon non-dimensional numbers and digitial signal processing to determine the quantity of load following reserves a priori.},
keywords = {intelligent systems, Modeling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}


@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}
}


@article{MRL_AFM_Economic_Energy_Water_Nexus,
title = {Real-time economic dispatch for the supply side of the energy-water nexus},
author = {Apoorva Santhosh and Amro Farid and Kamal Youcef-Toumi},
doi = {10.1016/j.apenergy.2014.01.062},
year  = {2014},
date = {2014-06-01},
journal = {Applied Energy},
volume = {122},
pages = {42–52},
publisher = {researchgate},
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. Traditionally, the infrastructure systems that deliver these precious commodities, the water distribution and power transmission networks are thought of as separate, uncoupled systems. However, in reality, they are very much coupled in what is commonly known as the energy-water nexus. Although this subject has recently caught the attention of numerous policy and regulatory agencies, 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 fills this gap by addressing the supply side of this integrated engineering system. Specifically, it develops the multi-plant real-time simultaneous economic dispatch of power and water. While significant background literature has addressed traditional power dispatch, and the emerging co-dispatch of power and heat, as of now there does not exist a parameterized model for the optimized dispatch of power and water for multiple power, water, and coproduction facilities. The work presents such a model where production costs are minimized subject to capacity, demand and process constraints. It is demonstrated on an illustrative example of modest size. Interesting results were observed suggesting that the coproduction minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. 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, Computational Intelligence, Control Theory, Data-driven learning for intelligent machine maintenance, intelligent systems, Simulation},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@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 &amp; intelligence for water distribution pipes, Robotics &amp; Automation},
pubstate = {published},
tppubtype = {article}
}


@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 &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@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}
}


@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}
}


@inproceedings{MRL_SG_Wind_Energy_Integration,
title = {An event triggered tracking state estimator for power systems with integrated wind generation},
author = {Reshma Francy and Amro M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6617292},
doi = {10.1109/PTC.2013.6652180},
isbn = {978-1-4673-5669-5},
year  = {2013},
date = {2013-11-04},
booktitle = {2013 IEEE Grenoble Conference},
pages = {1-6},
publisher = {IEEE},
organization = {IEEE},
abstract = {For many decades, state estimation has been a critical technology in the energy management systems utilized by transmission 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 such as wind and solar generation, however, introduce new dynamics and uncertainties into the system. Along with increase in variability which needs real time monitoring, state estimation will be extended to the distribution networks which increase the size of the problem. Conventional solutions to this problem result in large problem sets being solved at a faster rate thereby becoming computationally intensive. This work builds upon the recent contribution of event-triggering where the state estimator is only called in the case of considerable “novelty” in the evolution of the system state. Specifically, the concept of tracking saves significant computational effort at minimal expense of error by allowing for the update of system state between two consecutive triggered instances. The new event-triggered tracking state estimator (ETTSE) is demonstrated on the standard IEEE 14-bus system, and the results are observed for a specific bus.},
keywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}


@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 &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@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}
}


@inproceedings{MRL_SG_Co_Optimization_Networks,
title = {Simultaneous co-optimization for the economic dispatch of power and water networks},
author = {Apoorva Santhosh and Amro M Farid and A Adegbege and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6615058},
doi = {10.1049/cp.2012.2148},
isbn = {978-1-84919-743-4},
year  = {2013},
date = {2013-09-30},
booktitle = {9th IET International Conference on Advances in Power System Control, Operation and Management (APSCOM 2012)},
pages = {1-6},
publisher = {IEEE},
organization = {IEEE},
abstract = {Water distribution and power transmission networks are thought of as separate uncoupled infrastructure systems. In reality, they may be viewed as a single system which may be called the energy-water nexus. In hot and arid climates, this nexus takes on a deeper meaning in terms of the economic dispatch of power, water and cogenerating desalination units. This paper represents a co-optimization framework for the economic dispatch of water and electric power. In particular, an optimization program is provided that minimizes total costs as a function of power and water generation subject to demand, capacity and process constraints. It is distinct from existing literature in that it focuses on the simultaneous optimal operation of all plants within the power and water delivery networks within a generalized mathematical formulation. The optimization was then demonstrated on a hypothetical system composed of four power plants, three cogenerators and one pure water plant. Interesting results were observed suggesting that the cogenerator minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. The program provides a systematic method of achieving optimal results and can serve as basis for set-points upon which individual plants can implement their optimal control.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}


@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}
}


@inproceedings{MRL_SG_Water_Networks_Storage,
title = {The impact of storage facilities on the simultaneous economic dispatch of power and water networks limited by ramping constraints},
author = {A Santhosh and Amro M Farid and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/6505794},
doi = {10.1109/ICIT.2013.6505794},
isbn = {978-1-4673-4569-9},
year  = {2013},
date = {2013-04-23},
booktitle = {2013 IEEE International Conference on Industrial Technology (ICIT)},
pages = {922-927},
publisher = {IEEE},
organization = {IEEE},
abstract = {Recently, the production and consumption of energy and water resources and their potential coupling in what is often called the energy-water nexus has gained attention as an issue of global concern[1, 2]. Ultimately, a significant amount of water is required to produce energy and vice versa [2, 3]; motivating the need for co-optimization based approaches for the two resources. Recently, one such simultaneous co-optimization method has been contributed for the economic dispatch of networks that include water, power and co-production facilities [4]. That study showed that capacity and process constraints often limit total production cost. This paper seeks to add plant ramping behavior as potentially binding constraints and investigate the impact of water and storage facilities as a technology that can help alleviate binding constraints and lead to more levelized production and cost levels. The paper builds upon the optimization program provided in previous work [4] to develop two optimization programs with and without storage facilities and compares their respective results. Storage facilities are shown to reduce total operating costs and lead to more levelized daily production suggesting that they have an important role to play in the optimization of the energy-water nexus.},
keywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}


@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}
}


@inproceedings{MRL_WDP_Reliable_Leak_Sensing,
title = {Reliable Sensing of Leaks in Pipelines},
author = {Dimitris Chatzigeorgiou and You Wu and Kamal Youcef-Toumi and Rached Ben-Mansour},
url = {https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013},
isbn = {978-0-7918-5613-0},
year  = {2013},
date = {2013-01-01},
booktitle = {AWWA Annual Conference and Exposition, 2014},
publisher = {ASME},
organization = {ASME},
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 user experience. In this work we present a new in-pipe leak detection system, PipeGuard. PipeGuard performs autonomous leak detection in pipes and, thus, eliminates the need for 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 have validated the concepts by building a prototype and evaluated its performance under real conditions in an experimental laboratory setup.},
keywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@inproceedings{MRL_SG_Integrated_Energy_Management,
title = {Opportunities for Integrated Energy and Water Management in the GCC},
author = {William N Lubega and Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},
url = {http://amfarid.scripts.mit.edu/resources/Conferences/EWN-C36.pdf},
isbn = {978-1-4799-3685-4},
year  = {2013},
date = {2013-01-01},
booktitle = {EU-GCC Renewable Energy Policy Experts' Workshop},
publisher = {Gulf Research Center},
abstract = {Electric power is required to produce, treat, distribute, and recycle water while water is required to generate and consume electricity. The goal of this position paper is to identify and motivate opportunities for the operations management and planning of the energy-water nexus. It proceeds in three parts. First, an exposition of the energy-water nexus especially as it applies to the GCC is given. This discussion focuses on the electric power system, the potable water distribution system, and the wastewater distribution system. Then, the paper shifts to opportunities in operations management where recent work in the Laboratory for Intelligent Integrated Networks of Engineering Systems has produced a number of optimization programs to support the deregulated operation of integrated energy-water markets. To highlight the viability of this idea, an energy-water nexus supply side economic dispatch is presented. Finally, the position paper shifts to discuss planning opportunities for the energy-water nexus for the sustainable development of water and energy resources. These include new methods that encourage renewable energy penetration and balance the portfolio of desalination technologies. It also includes integrated strategies for the design of water infrastructure to minimize embedded energy while reusing water of various qualities. The paper concludes with a description of opportunities for EUGCC collaboration to support the purpose of the workshop.},
keywords = {intelligent systems, Modeling; sizing and control of smart grids},
pubstate = {published},
tppubtype = {inproceedings}
}


@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 &amp; Automation, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}


@inproceedings{MRL_SG_Multi_Microgrid_Coordination,
title = {Coordination and Control of Multiple Microgrids Using Multi-Agent Systems},
author = {Sergio Rivera and Amro Farid and Kamal Youcef-Toumi},
url = {https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems},
doi = {10.1109/PTC.2013.6652180},
isbn = {978-1-4673-5669-5},
year  = {2013},
date = {2013-01-01},
booktitle = {Energypath 2013: Our Global Sustainable Energy Future},
abstract = {As distributed renewable generation sources continue to be integrated into the power grid, the concept of Microgrids has gained traction. Here, the integration challenge is not just in the control of an individual Microgrid but also in their coordination. This short communication presents a novel approach to inter-Microgrid coordination and control based upon Multi-Agent systems. An architecture based upon physical agents is presented and is implemented on a dual platform of JADE (environment for developing agents) and Matlab-Matpower (power system analysis tool). The implementation is demonstrated for a reconfiguration scenario involving the preservation of vital loads. The work presents many opportunities for future developments in the domain of resilient self-healing power grids.},
keywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}


@inproceedings{MRL_SG_Wind_Integration_Stability,
title = {Transient Stability of Power Systems with Different Configurations for Wind Power Integration},
author = {Hussein M Abdelhalim and Amro M Farid and Ambrose A Adegbege and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6497903&isnumber=6497783&tag=1},
doi = {10.1109/ISGT.2013.6497903},
year  = {2013},
date = {2013-01-01},
booktitle = {Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES},
abstract = {Previous transient stability studies investigating the effects of wind power integration into a conventional power system assume the insertion point of the wind-generating units to be at the same bus and interconnection voltage as the synchronous generators they are substituting or complementing. While these assumptions offer some insights into the effects of the wind on the existing system, important points about the physical distance and interconnection voltage of wind farms with respect to the conventional power system are neglected. This paper analyzes the effects of integrating doubly-fed induction wind turbine generators through different transmission line configurations and at different buses. The IEEE 14-bus test system is used in order to compare results with previous works. Results show that connecting wind generators through transmission lines and to different buses introducesdelays in the speed dynamic responses of existing synchronous generators. These delays in turn affect the bus voltage oscillations. Results also show that there is no significant effect on the base cases when using different interconnection voltages to connect the wind. The results of this study can be used by power system operators when deciding how to connect wind farms to an existing power network when optimizing for stability response to a large fault. Overall, wind farms should be connected through additional transmission lines to buses near where synchronous generators are located and further away from loads and higher risk fault areas.},
keywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}


@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}
}


@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}
}


@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 &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@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 Ðº − 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 &amp; intelligence for water distribution pipes, Robotics &amp; Automation, Simulation},
pubstate = {published},
tppubtype = {article}
}


@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}
}


@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 &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@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 &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@article{MRL_AFM_Dynamic_Simulation_Leak_Pipe,
title = {Computational fluid dynamic simulation of small leaks in water pipelines for direct leak pressure transduction},
author = {R Ben-Mansour and M A Habib and A Khalifa and K Youcef-Toumi and D Chatzigeorgiou},
url = {https://www.sciencedirect.com/science/article/pii/S0045793011003884},
doi = {https://doi.org/10.1016/j.compfluid.2011.12.016},
issn = {0045-7930},
year  = {2012},
date = {2012-03-30},
journal = {Computers & Fluids},
volume = {57},
pages = {110-123},
publisher = {Science Direct},
abstract = {Computational fluid dynamic simulation of small leaks in a pipe having 0.1m diameter has been performed under realistic velocities and pressures using a 3D turbulent flow model of well tested CFD code. The steady state simulations have shown clear signature in the pressure and pressure gradient variations along the pipe. For very small leaks (below 1l/min), this signature in not very strong in the pressure variation, but very clear in the pressure gradient. The averaged power spectral density (PSD) as well as FFT of the pressure fluctuations based on transient Detached Eddy Simulations (DESs) are presented for different locations around the leak position. These results show that the presence of a leak causes measurable differences in the magnitude and frequency of the pressure signal spectrum and also in the averaged PSD for the range of 220–500Hz frequency.},
keywords = {Control Theory, Inspection, Physical System Modeling, repair &amp; intelligence for water distribution pipes, Robotics &amp; Automation, Simulation},
pubstate = {published},
tppubtype = {article}
}


@inproceedings{MRL_AFM_Flexure_Nanopositioning_Methodology,
title = {Integrated Design and Control of Flexure-Based Nanopositioning Systems — Part I: Methodology},
author = {Vijay Shilpiekandula and Kamal Youcef-Toumi},
url = {https://www.sciencedirect.com/science/article/pii/S1474667016451232},
doi = {https://doi.org/10.3182/20110828-6-IT-1002.03796},
issn = {1474-6670},
year  = {2011},
date = {2011-09-01},
journal = {IFAC Proceedings Volumes},
volume = {44},
number = {1},
pages = {9406-9412},
publisher = {IFAC},
abstract = {Abstract 
Flexure-based mechanisms, also referred to as flexures, are widely being used as motion-guidance, or bearing, elements in applications requiring multi-degree-of-freedom positioning and alignment. Unlike friction-bearings (such as sliding or rolling contact bearings), flexures can be designed to offer, to a large extent, reliable linear elastic motion with a high resolution (on the order of nanometers) over small ranges of motion (on order of micrometers). Example applications include positioning a probe or sample in atomic force microscopy, alignment of tool and sample in stamping processes, and fine-positioning of wafers and masks in semiconductor manufacturing. These applications are often required satisfy critical functional requirements, such as load-capacity, bandwidth, resolution, and range. A systematic approach is needed to simultaneously address the design and control challenges involved, starting from the initial design concept generation stage to the final control implementation and testing. In this paper, we present an integrated design and control method for implementing flexure-based nanopositioning systems. We discuss the need for varying design topology and order of a controller in design and control optimization. An automation engine generates a set of flexure-based design topologies and also controllers of varying order in the optimization. A simple 1-DOF example is worked out to illustrate the steps involved in using this methodology. The outcome of the exercise is a novel design topology, with it shape and size optimized, and a controller synthesized such that a desired control bandwidth and design requirements of strength and modal separation are met.},
note = {18th IFAC World Congress},
keywords = {Control Theory, Mechatronic Design, Nanotechnology, Physical System Modeling, Robot operated modular fixtures, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}


@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}
}


@inproceedings{MRL_AFM_GAG_Depletion,
title = {The effect of GAG depletion on cartilage nanoscale hydraulic permeability},
author = {Tavakoli H Nia and L Han and Y Li and Soltani I Bozchalooi and H Hung and E Frank and K Youcef-Toumi and A Grodzinsky and C Orti},
url = {http://www.ors.org/Transactions/58/0282.pdf},
doi = {10.1109/ACC.2012.6315281},
isbn = {978-1-4577-1096-4},
year  = {2011},
date = {2011-01-01},
booktitle = {ORS 2012 Annual Meeting},
pages = {0282},
publisher = {ORS},
organization = {ORS},
abstract = {The advent of new time-dependent nanomechanical methods has recently enabled the quantification of cartilage tissue poroelasticity and hydraulic permeability, k, at the nanoscale [1-3] and holds great potential for early detection of pathological changes and diagnosis of osteoarthritis (OA). It is known that at the macroscale, tissue hydraulic permeability can undergo several order-of-magnitude changes due to OA [4] while the equilibrium stiffness may vary by only a factor of 2 [5]. This is because GAG chains are the main determinant of the pore size (consequently, hydraulic permeability) of cartilage while they contribute only partially to the compression stiffness of the tissue. Here, we extend the technique of atomic force microscope-based dynamic oscillatory nanoindentation to a larger frequency range (1-10,000 Hz) and compare these data to finite element analysis simulations to study the effect of GAG content, relevant to early stage OA.},
keywords = {Control Theory, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},
pubstate = {published},
tppubtype = {inproceedings}
}


@inproceedings{MRL_BRF_Multi_DOF_Stingray,
title = {A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example},
author = {Pablo Valdivia y Alvarado and Stephanie Chin and Winston Larson and Anirban Mazumdar and Kamal Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/5627803},
doi = {10.1109/BIOROB.2010.5627803},
isbn = {978-1-4244-7709-8},
year  = {2010},
date = {2010-11-11},
booktitle = {2010 3rd IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics},
pages = {473-478},
publisher = {IEEE},
organization = {IEEE},
abstract = {In this paper we present a new application of the methodology our group is developing to design and prototype under-actuated biomimetic robots by determining appropriate body material property distributions. When excited, flexible bodies with proper anisotropic material distributions display modes of vibration that mimic required locomotion kinematics and require minimal actuation. Our previous prototypes explored simple two dimensional applications for fish-like swimming. In this paper, the three dimensional vibrational kinematics of a stingray are explored. A simple design is explained, and corresponding prototypes are presented along with preliminary performance data. Our methodology shows great promise to develop simple, robust, and inexpensive mobile robots that can efficiently accomplish locomotion.},
keywords = {Biomimetic robotic fish for underwater monitoring, Experimentation, Mechatronic Design, Physical System Modeling, Robotics and Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@inproceedings{MRL_WDP_Acoustic_Leak_Signals,
title = {In-pipe Acoustic Characterization of Leak Signals in Plastic Water-filled Pipes},
author = {Dimitris M Chatzigeorgiou and Sumeet Kumar and Atia E Khalifa and Ajay Deshpande and Kamal Youcef-Toumi and Sanjay Sarma and Rached Ben-Mansour},
url = {https://www.researchgate.net/publication/277303127_In-pipe_Acoustic_Characterization_of_Leak_Signals_in_Plastic_Water-filled_Pipes},
year  = {2010},
date = {2010-01-01},
booktitle = {AWWA Annual Conference and Exposition (ACE) 2010},
publisher = {AWWA},
organization = {AWWA},
abstract = {Acoustic emissions can be sensed to identify and localize leaks in water pipes. Leak noise correlators and listening devices have been reported in literature as successful approaches to leak detection but they have practical limitations in terms of cost, sensitivity, reliability and scalability. A possible efficient solution is the development of an in-pipe traveling leak detection system. It has been reported that in-pipe sensing is more accurate and efficient since the sensing element can be very close to the sound source. Currently in-pipe approaches are limited to large leaks and larger diameter pipes. Development of such a system requires clear understanding of acoustic signals generated from leaks and their variation with different pipe loading conditions, leak sizes and surrounding media. This paper discusses the acoustic characterization of leak signals in controlled environments. A lab experimental setup was designed and built in which measurements were taken from inside 4 inch PVC water pipes using a hydrophone. Signals were collected for a wide range of conditions: different pressures and leak flow rates to better understand the leak signal signatures. Experiments were conducted with different pipe connecting elements like valves and junctions, and different external conditions such as pipes placed in water, air and soil. Signals were collected at various distances from the leak location (upstream and downstream) to understand the opportunities of spatial cross-correlation techniques in localizing leaks and the effect of sensor position on the signal. Characterizations of different datasets are presented in frequency domain. The implications of acoustic characterization on the design of algorithms for leak detection are discussed and a simple algorithm to decide whether or not a leak is present near the sensor location is proposed, based on signal power calculations. The characterization gives insights, which will pave ways for the development of smart, autonomous pipe-traversing systems capable of detecting and localizing leaks on a city level water distribution network.},
keywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp; Automation, Simulation, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}


@article{MRL_AFM_Priori_Operating_Requirements,
title = {An a priori analytical method for the determination of operating reserve requirements},
author = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},
url = {https://www.sciencedirect.com/science/article/pii/S0142061515300089},
doi = {https://doi.org/10.1016/j.ijepes.2016.09.005},
issn = {0142-0615},
year  = {1979},
date = {1979-04-01},
journal = {International Journal of Electrical Power & Energy Systems},
volume = {86},
pages = {1-17},
publisher = {ScienceDirect},
abstract = {Power balance is one of the key requirements for reliable power system operation. However, factors, such as net load variability and forecast errors, impose practical limitations on matching the scheduled generation and the real-time demand. Normally, potential power imbalances are mitigated by scheduling additional generation capacity called operating reserves. However, reserves are a costly commodity and their requirements should be accurately assessed to avoid unnecessary expense. Currently, the reserve requirements are determined using a posteriori methods based upon operator’s experience and established assumptions. While these assumptions are made out of a level of engineering practicality, they may not be formally true given the numerical evidence. This paper presents a formal mathematical framework for the a priori determination of three types of operating reserve requirements, namely load following, ramping and regulation. Validation of the methodology is performed by a set of extensive simulations that model the power system operations for different scenarios. This methodology is used to study the sensitivity of each type of reserve requirement to the net load and power system parameters.},
keywords = {Algorithms, Computational Intelligence, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling},
pubstate = {published},
tppubtype = {article}
}


@article{MRL_AFM_Charge_Controller_Compensating_Configs,
title = {Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth},
author = {C Yang and C Li and F Xia and Y Zhu and J Zhao and K Youcef-Toumi},
url = {https://ieeexplore.ieee.org/document/8466119},
doi = {10.1109/TIE.2018.2868321},
issn = {1557-9948},
journal = {IEEE Transactions on Industrial Electronics},
volume = {66},
number = {7},
pages = {5392-5402},
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, Instrumentation, Nanotechnology, Physical System Modeling, Robot operated modular fixtures, Visualization},
pubstate = {published},
tppubtype = {article}
}
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In order to keep using Mendeley with BibBase past April\n        14th, you need to:\n        <ol>\n          <li>renew the authorization for BibBase on Mendeley, and</li>\n          <li>update the BibBase URL\n            in your page the same way you did when you initially set up\n            this page.\n          </li>\n        </ol>\n      </p>\n\n      <p>\n        <a href=\"http://bibbase.org/cgi-bin/mendeley2/get.py\">\n          <i class=\"fa fa-angle-double-right\"></i>\n          Fix it now</a>\n      </p>\n    </div>\n\n  </div>\n\n\n  <div id=\"bibbase_body\">\n    \n  \n  <div class=\"bibbase_group_whole\" id=\"group_2021\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2021')\"\n      onkeypress=\"toggleGroup('group_2021')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2021</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"xia-quigley-zhang-yang-wang-youceftoumi-amodularlowcostatomicforcemicroscopeforprecisionmechatronicseducation-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0957415821000441\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xia-quigley-zhang-yang-wang-youceftoumi-amodularlowcostatomicforcemicroscopeforprecisionmechatronicseducation-2021', 'https://www.sciencedirect.com/science/article/pii/S0957415821000441', event);\">\n    A modular low-cost atomic force microscope for precision mechatronics education.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xia, F.; Quigley, J.; Zhang, X.; Yang, C.; Wang, Y.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Mechatronics</i>, 76: 102550.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0957415821000441\"\n     onclick=\"log_download('xia-quigley-zhang-yang-wang-youceftoumi-amodularlowcostatomicforcemicroscopeforprecisionmechatronicseducation-2021', 'https://www.sciencedirect.com/science/article/pii/S0957415821000441', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A modular low-cost atomic force microscope for precision mechatronics education [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.mechatronics.2021.102550\"\n     onclick=\"log_download('xia-quigley-zhang-yang-wang-youceftoumi-amodularlowcostatomicforcemicroscopeforprecisionmechatronicseducation-2021', 'http://doi.org/https://doi.org/10.1016/j.mechatronics.2021.102550', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xia-quigley-zhang-yang-wang-youceftoumi-amodularlowcostatomicforcemicroscopeforprecisionmechatronicseducation-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xia-quigley-zhang-yang-wang-youceftoumi-amodularlowcostatomicforcemicroscopeforprecisionmechatronicseducation-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Low_cost_AFM,\r\ntitle = {A modular low-cost atomic force microscope for precision mechatronics education},\r\nauthor = {Fangzhou Xia and James Quigley and Xiaotong Zhang and Chen Yang and Yi Wang and Kamal Youcef-Toumi},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S0957415821000441},\r\ndoi = {https://doi.org/10.1016/j.mechatronics.2021.102550},\r\nissn = {0957-4158},\r\nyear  = {2021},\r\ndate = {2021-04-15},\r\njournal = {Mechatronics},\r\nvolume = {76},\r\npages = {102550},\r\npublisher = {ScienceDirect},\r\nabstract = {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.},\r\nkeywords = {Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2020\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2020')\"\n      onkeypress=\"toggleGroup('group_2020')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2020</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"xia-yang-wang-youceftoumi-modelandcontrollerdesignforhighspeedatomicforcemicroscopeimagingandautotuning-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.dropbox.com/s/vekbaco9oq3kkuu/2020%20Spring%20Topical%20Design%20and%20Controls%20Proceedings%20revised%20DT.pdf?dl=0\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xia-yang-wang-youceftoumi-modelandcontrollerdesignforhighspeedatomicforcemicroscopeimagingandautotuning-2020', 'https://www.dropbox.com/s/vekbaco9oq3kkuu/2020%20Spring%20Topical%20Design%20and%20Controls%20Proceedings%20revised%20DT.pdf?dl=0', event);\">\n    Model and Controller Design for High-speed Atomic Force Microscope Imaging and Autotuning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xia, F.; Yang, C.; Wang, Y.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2020 ASPE Spring Topical Meeting on Design and Control of Precision Mechatronic Systems</i>, pages 99–104,  2020. ASPE, ASPE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.dropbox.com/s/vekbaco9oq3kkuu/2020%20Spring%20Topical%20Design%20and%20Controls%20Proceedings%20revised%20DT.pdf?dl=0\"\n     onclick=\"log_download('xia-yang-wang-youceftoumi-modelandcontrollerdesignforhighspeedatomicforcemicroscopeimagingandautotuning-2020', 'https://www.dropbox.com/s/vekbaco9oq3kkuu/2020%20Spring%20Topical%20Design%20and%20Controls%20Proceedings%20revised%20DT.pdf?dl=0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Model and Controller Design for High-speed Atomic Force Microscope Imaging and Autotuning [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xia-yang-wang-youceftoumi-modelandcontrollerdesignforhighspeedatomicforcemicroscopeimagingandautotuning-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xia-yang-wang-youceftoumi-modelandcontrollerdesignforhighspeedatomicforcemicroscopeimagingandautotuning-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Imaging_Autotuning,\r\ntitle = {Model and Controller Design for High-speed Atomic Force Microscope Imaging and Autotuning},\r\nauthor = {Fangzhou Xia and Chen Yang and Yi Wang and Kamal Youcef-Toumi},\r\nurl = {https://www.dropbox.com/s/vekbaco9oq3kkuu/2020%20Spring%20Topical%20Design%20and%20Controls%20Proceedings%20revised%20DT.pdf?dl=0},\r\nyear  = {2020},\r\ndate = {2020-05-08},\r\nbooktitle = {2020 ASPE Spring Topical Meeting on Design and Control of Precision Mechatronic Systems},\r\npages = {99--104},\r\npublisher = {ASPE},\r\norganization = {ASPE},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yang-verbeek-xia-wang-youceftoumi-modelingandcontrolofpiezoelectrichysteresisapolynomialbasedfractionalorderdisturbancecompensationapproach-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/9027124\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yang-verbeek-xia-wang-youceftoumi-modelingandcontrolofpiezoelectrichysteresisapolynomialbasedfractionalorderdisturbancecompensationapproach-2020', 'https://ieeexplore.ieee.org/document/9027124', event);\">\n    Modeling and Control of Piezoelectric Hysteresis: A Polynomial-Based Fractional Order Disturbance Compensation Approach.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yang, C.; Verbeek, N.; Xia, F.; Wang, Y.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Industrial Electronics</i>.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/9027124\"\n     onclick=\"log_download('yang-verbeek-xia-wang-youceftoumi-modelingandcontrolofpiezoelectrichysteresisapolynomialbasedfractionalorderdisturbancecompensationapproach-2020', 'https://ieeexplore.ieee.org/document/9027124', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modeling and Control of Piezoelectric Hysteresis: A Polynomial-Based Fractional Order Disturbance Compensation Approach [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TIE.2020.2977567\"\n     onclick=\"log_download('yang-verbeek-xia-wang-youceftoumi-modelingandcontrolofpiezoelectrichysteresisapolynomialbasedfractionalorderdisturbancecompensationapproach-2020', 'http://doi.org/10.1109/TIE.2020.2977567', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-verbeek-xia-wang-youceftoumi-modelingandcontrolofpiezoelectrichysteresisapolynomialbasedfractionalorderdisturbancecompensationapproach-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-verbeek-xia-wang-youceftoumi-modelingandcontrolofpiezoelectrichysteresisapolynomialbasedfractionalorderdisturbancecompensationapproach-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Charge_Controller_PBFODC,\r\ntitle = {Modeling and Control of Piezoelectric Hysteresis: A Polynomial-Based Fractional Order Disturbance Compensation Approach},\r\nauthor = {Chen Yang and Nicolas Verbeek and Fangzhou Xia and Yi Wang and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/9027124},\r\ndoi = {10.1109/TIE.2020.2977567},\r\nissn = {1557-9948},\r\nyear  = {2020},\r\ndate = {2020-03-06},\r\njournal = {IEEE Transactions on Industrial Electronics},\r\npublisher = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Experimentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vanslette-alsheikh-youceftoumi-whysimplequadratureisjustasgoodasmontecarlo-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://dx.doi.org/10.1515/mcma-2020-2055\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'vanslette-alsheikh-youceftoumi-whysimplequadratureisjustasgoodasmontecarlo-2020', 'http://dx.doi.org/10.1515/mcma-2020-2055', event);\">\n    Why simple quadrature is just as good as Monte Carlo.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Vanslette, K.; Alsheikh, A. A.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Monte Carlo Methods and Applications</i>, 26(1): 1–16.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://dx.doi.org/10.1515/mcma-2020-2055\"\n     onclick=\"log_download('vanslette-alsheikh-youceftoumi-whysimplequadratureisjustasgoodasmontecarlo-2020', 'http://dx.doi.org/10.1515/mcma-2020-2055', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Why simple quadrature is just as good as Monte Carlo [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1515/mcma-2020-2055\"\n     onclick=\"log_download('vanslette-alsheikh-youceftoumi-whysimplequadratureisjustasgoodasmontecarlo-2020', 'http://doi.org/10.1515/mcma-2020-2055', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vanslette-alsheikh-youceftoumi-whysimplequadratureisjustasgoodasmontecarlo-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vanslette-alsheikh-youceftoumi-whysimplequadratureisjustasgoodasmontecarlo-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Quadrature_Monte_Carlo,\r\ntitle = {Why simple quadrature is just as good as Monte Carlo},\r\nauthor = {Kevin Vanslette and Abdullatif Al Alsheikh and Kamal Youcef-Toumi},\r\nurl = {http://dx.doi.org/10.1515/mcma-2020-2055},\r\ndoi = {10.1515/mcma-2020-2055},\r\nissn = {1569-3961},\r\nyear  = {2020},\r\ndate = {2020-03-01},\r\njournal = {Monte Carlo Methods and Applications},\r\nvolume = {26},\r\nnumber = {1},\r\npages = {1–16},\r\npublisher = {Walter de Gruyter GmbH},\r\nabstract = {We motive and calculate Newton–Cotes quadrature integration variance and compare it directly with Monte Carlo (MC) integration variance. We find an equivalence between deterministic quadrature sampling and random MC sampling by noting that MC random sampling is statistically indistinguishable from a method that uses deterministic sampling on a randomly shuffled (permuted) function. We use this statistical equivalence to regularize the form of permissible Bayesian quadrature integration priors such that they are guaranteed to be objectively comparable with MC. This leads to the proof that simple quadrature methods have expected variances that are less than or equal to their corresponding theoretical MC integration variances. Separately, using Bayesian probability theory, we find that the theoretical standard deviations of the unbiased errors of simple Newton–Cotes composite quadrature integrations improve over their worst case errors by an extra dimension independent factor ∝ N−1/2 This dimension independent factor is validated in our simulations.},\r\nkeywords = {Computational Intelligence, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We motive and calculate Newton–Cotes quadrature integration variance and compare it directly with Monte Carlo (MC) integration variance. We find an equivalence between deterministic quadrature sampling and random MC sampling by noting that MC random sampling is statistically indistinguishable from a method that uses deterministic sampling on a randomly shuffled (permuted) function. We use this statistical equivalence to regularize the form of permissible Bayesian quadrature integration priors such that they are guaranteed to be objectively comparable with MC. This leads to the proof that simple quadrature methods have expected variances that are less than or equal to their corresponding theoretical MC integration variances. Separately, using Bayesian probability theory, we find that the theoretical standard deviations of the unbiased errors of simple Newton–Cotes composite quadrature integrations improve over their worst case errors by an extra dimension independent factor ∝ N−1/2 This dimension independent factor is validated in our simulations.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yang-paranawithana-youceftoumi-tan-confidencebasedhybridtrackingtoovercomevisualtrackingfailuresincalibrationlessvisionguidedmicromanipulation-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yang, L; Paranawithana, I; Youcef-Toumi, K;  and Tan, U\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automation Science and Engineering</i>, 17(1): 524-536.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TASE.2019.2932724\"\n     onclick=\"log_download('yang-paranawithana-youceftoumi-tan-confidencebasedhybridtrackingtoovercomevisualtrackingfailuresincalibrationlessvisionguidedmicromanipulation-2020', 'http://doi.org/10.1109/TASE.2019.2932724', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-paranawithana-youceftoumi-tan-confidencebasedhybridtrackingtoovercomevisualtrackingfailuresincalibrationlessvisionguidedmicromanipulation-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-paranawithana-youceftoumi-tan-confidencebasedhybridtrackingtoovercomevisualtrackingfailuresincalibrationlessvisionguidedmicromanipulation-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Confidence_Based_Hybrid_Tracking,\r\ntitle = {Confidence-Based Hybrid Tracking to Overcome Visual Tracking Failures in Calibration-Less Vision-Guided Micromanipulation},\r\nauthor = {L Yang and I Paranawithana and K Youcef-Toumi and U Tan},\r\ndoi = {10.1109/TASE.2019.2932724},\r\nissn = {1558-3783},\r\nyear  = {2020},\r\ndate = {2020-01-01},\r\njournal = {IEEE Transactions on Automation Science and Engineering},\r\nvolume = {17},\r\nnumber = {1},\r\npages = {524-536},\r\npublisher = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Mechatronic Design, Nanotechnology, Physical System Modeling, Robotics &amp;amp; Automation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2019\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2019')\"\n      onkeypress=\"toggleGroup('group_2019')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2019</span>\n      <span class=\"bibbase_group_count\">\n        \n        (12)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"heredia-tirado-panov-cabrera-youceftoumi-tsetserukou-recyglideaforearmwornmultimodalhapticdisplayaimedtoimproveuservrimmersionsubmission-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1145/3359996.3364759\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'heredia-tirado-panov-cabrera-youceftoumi-tsetserukou-recyglideaforearmwornmultimodalhapticdisplayaimedtoimproveuservrimmersionsubmission-2019', 'https://doi.org/10.1145/3359996.3364759', event);\">\n    RecyGlide: A Forearm-Worn Multi-Modal Haptic Display Aimed to Improve User VR Immersion Submission.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Heredia, J.; Tirado, J.; Panov, V.; Cabrera, M. A.; Youcef-Toumi, K.;  and Tsetserukou, D.\n</span>\n\n  \n\n</span>\n\n  In <i>25th ACM Symposium on Virtual Reality Software and Technology</i>, pages 1-2,  2019. Association for Computing Machinery\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1145/3359996.3364759\"\n     onclick=\"log_download('heredia-tirado-panov-cabrera-youceftoumi-tsetserukou-recyglideaforearmwornmultimodalhapticdisplayaimedtoimproveuservrimmersionsubmission-2019', 'https://doi.org/10.1145/3359996.3364759', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"RecyGlide: A Forearm-Worn Multi-Modal Haptic Display Aimed to Improve User VR Immersion Submission [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1145/3359996.3364759\"\n     onclick=\"log_download('heredia-tirado-panov-cabrera-youceftoumi-tsetserukou-recyglideaforearmwornmultimodalhapticdisplayaimedtoimproveuservrimmersionsubmission-2019', 'http://doi.org/10.1145/3359996.3364759', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/heredia-tirado-panov-cabrera-youceftoumi-tsetserukou-recyglideaforearmwornmultimodalhapticdisplayaimedtoimproveuservrimmersionsubmission-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('heredia-tirado-panov-cabrera-youceftoumi-tsetserukou-recyglideaforearmwornmultimodalhapticdisplayaimedtoimproveuservrimmersionsubmission-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_VR_Multi_Modal_Display,\r\ntitle = {RecyGlide: A Forearm-Worn Multi-Modal Haptic Display Aimed to Improve User VR Immersion Submission},\r\nauthor = {Juan Heredia and Jonathan Tirado and Vladislav Panov and Miguel Altamirano Cabrera and Kamal Youcef-Toumi and Dzmitry Tsetserukou},\r\nurl = {https://doi.org/10.1145/3359996.3364759},\r\ndoi = {10.1145/3359996.3364759},\r\nisbn = {9781450370011},\r\nyear  = {2019},\r\ndate = {2019-11-01},\r\nbooktitle = {25th ACM Symposium on Virtual Reality Software and Technology},\r\npages = {1-2},\r\npublisher = {Association for Computing Machinery},\r\nabstract = {Haptic devices have been employed to immerse users in VR environments. In particular, hand and finger haptic devices have been deeply developed. However, this type of devices occludes hand detection for some tracking systems, or, for some other tracking systems, it is uncomfortable for the users to wear two different devices (haptic and tracking device) on both hands. We introduce RecyGlide, a novel wearable multimodal display located at the forearm. The RecyGlide is composed of inverted five-bar linkages with 2 degrees of freedom (DoF) and vibration motors (see Fig. 1.(a). The device provides multimodal tactile feedback such as slippage, force vector, pressure, and vibration. We tested the discrimination ability of monomodal and multimodal stimuli patterns on the forearm and confirmed that the multimodal patterns have higher recognition rate. This haptic device was used in VR applications, and we proved that it enhances VR experience and makes it more interactive.},\r\nkeywords = {Computational Intelligence, Control Theory, Data-driven learning for intelligent machine maintenance, Experimentation, intelligent systems, Mechatronic Design, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Haptic devices have been employed to immerse users in VR environments. In particular, hand and finger haptic devices have been deeply developed. However, this type of devices occludes hand detection for some tracking systems, or, for some other tracking systems, it is uncomfortable for the users to wear two different devices (haptic and tracking device) on both hands. We introduce RecyGlide, a novel wearable multimodal display located at the forearm. The RecyGlide is composed of inverted five-bar linkages with 2 degrees of freedom (DoF) and vibration motors (see Fig. 1.(a). The device provides multimodal tactile feedback such as slippage, force vector, pressure, and vibration. We tested the discrimination ability of monomodal and multimodal stimuli patterns on the forearm and confirmed that the multimodal patterns have higher recognition rate. This haptic device was used in VR applications, and we proved that it enhances VR experience and makes it more interactive.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vanslette-tohme-youceftoumi-ageneralmodelvalidationandtestingtool-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0951832019302571\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'vanslette-tohme-youceftoumi-ageneralmodelvalidationandtestingtool-2019', 'https://www.sciencedirect.com/science/article/pii/S0951832019302571', event);\">\n    A general model validation and testing tool.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Vanslette, K.; Tohme, T.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Reliability Engineering & System Safety</i>, 195: 106684.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0951832019302571\"\n     onclick=\"log_download('vanslette-tohme-youceftoumi-ageneralmodelvalidationandtestingtool-2019', 'https://www.sciencedirect.com/science/article/pii/S0951832019302571', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A general model validation and testing tool [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.ress.2019.106684\"\n     onclick=\"log_download('vanslette-tohme-youceftoumi-ageneralmodelvalidationandtestingtool-2019', 'http://doi.org/https://doi.org/10.1016/j.ress.2019.106684', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vanslette-tohme-youceftoumi-ageneralmodelvalidationandtestingtool-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vanslette-tohme-youceftoumi-ageneralmodelvalidationandtestingtool-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_Model_Validation_Testing,\r\ntitle = {A general model validation and testing tool},\r\nauthor = {Kevin Vanslette and Tony Tohme and Kamal Youcef-Toumi},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S0951832019302571},\r\ndoi = {https://doi.org/10.1016/j.ress.2019.106684},\r\nissn = {0951-8320},\r\nyear  = {2019},\r\ndate = {2019-10-28},\r\njournal = {Reliability Engineering &amp; System Safety},\r\nvolume = {195},\r\npages = {106684},\r\npublisher = {Elsevier BV},\r\nabstract = {We construct and propose the “Bayesian Validation Metric” (BVM) as a general model validation and testing tool. We find the BVM to be capable of representing all of the standard validation metrics (square error, reliability, probability of agreement, frequentist, area, probability density comparison, statistical hypothesis testing, and Bayesian model testing) as special cases and find that it can be used to improve, generalize, or further quantify their uncertainties. Thus, the BVM allows us to assess the similarities and differences between existing validation metrics in a new light. The BVM has the capacity to allow users to invent and select models according to novel validation requirements. We formulate and test a few novel compound validation metrics that improve upon other validation metrics in the literature. Further, we construct the BVM Ratio for the purpose of quantifying model selection under user defined definitions of agreement in the presence or absence of uncertainty. This construction generalizes the Bayesian model testing framework.},\r\nkeywords = {Algorithms, Computational Intelligence, Control Theory, Experimentation, intelligent systems, Probabilistic neural networks for robust machine learning, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We construct and propose the “Bayesian Validation Metric” (BVM) as a general model validation and testing tool. We find the BVM to be capable of representing all of the standard validation metrics (square error, reliability, probability of agreement, frequentist, area, probability density comparison, statistical hypothesis testing, and Bayesian model testing) as special cases and find that it can be used to improve, generalize, or further quantify their uncertainties. Thus, the BVM allows us to assess the similarities and differences between existing validation metrics in a new light. The BVM has the capacity to allow users to invent and select models according to novel validation requirements. We formulate and test a few novel compound validation metrics that improve upon other validation metrics in the literature. Further, we construct the BVM Ratio for the purpose of quantifying model selection under user defined definitions of agreement in the presence or absence of uncertainty. This construction generalizes the Bayesian model testing framework.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xia-yang-wang-youceftoumi-bandwidthbasedrepetitivecontrollerdesignforamodularmultiactuatedafmscanner-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8814642\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xia-yang-wang-youceftoumi-bandwidthbasedrepetitivecontrollerdesignforamodularmultiactuatedafmscanner-2019', 'https://ieeexplore.ieee.org/document/8814642', event);\">\n    Bandwidth Based Repetitive Controller Design for a Modular Multi-actuated AFM Scanner.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xia, F.; Yang, C.; Wang, Y.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2019 American Control Conference (ACC)</i>, pages 3776–3781,  2019. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8814642\"\n     onclick=\"log_download('xia-yang-wang-youceftoumi-bandwidthbasedrepetitivecontrollerdesignforamodularmultiactuatedafmscanner-2019', 'https://ieeexplore.ieee.org/document/8814642', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Bandwidth Based Repetitive Controller Design for a Modular Multi-actuated AFM Scanner [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.23919/ACC.2019.8814642\"\n     onclick=\"log_download('xia-yang-wang-youceftoumi-bandwidthbasedrepetitivecontrollerdesignforamodularmultiactuatedafmscanner-2019', 'http://doi.org/10.23919/ACC.2019.8814642', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xia-yang-wang-youceftoumi-bandwidthbasedrepetitivecontrollerdesignforamodularmultiactuatedafmscanner-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xia-yang-wang-youceftoumi-bandwidthbasedrepetitivecontrollerdesignforamodularmultiactuatedafmscanner-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Bandwidth_Based_Repetitive_Control,\r\ntitle = {Bandwidth Based Repetitive Controller Design for a Modular Multi-actuated AFM Scanner},\r\nauthor = {Fangzhou Xia and Chen Yang and Yi Wang and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/8814642},\r\ndoi = {10.23919/ACC.2019.8814642},\r\nyear  = {2019},\r\ndate = {2019-08-29},\r\nbooktitle = {2019 American Control Conference (ACC)},\r\npages = {3776--3781},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8815299\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019', 'https://ieeexplore.ieee.org/document/8815299', event);\">\n    Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yang, C.; Xia, F.; Wang, Y.; Truncale, S.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2019 American Control Conference (ACC)</i>, pages 3782–3788,  2019. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8815299\"\n     onclick=\"log_download('yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019', 'https://ieeexplore.ieee.org/document/8815299', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.23919/ACC.2019.8815299\"\n     onclick=\"log_download('yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019', 'http://doi.org/10.23919/ACC.2019.8815299', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Stacked_Nanopositioner,\r\ntitle = {Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure},\r\nauthor = {Chen Yang and Fangzhou Xia and Yi Wang and Stephen Truncale and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/8815299},\r\ndoi = {10.23919/ACC.2019.8815299},\r\nisbn = {978-1-5386-7926-5},\r\nyear  = {2019},\r\ndate = {2019-08-29},\r\nbooktitle = {2019 American Control Conference (ACC)},\r\npages = {3782--3788},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wu-mittmann-winston-youceftoumi-apracticalminimalismapproachtoinpiperobotlocalization-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8814648\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wu-mittmann-winston-youceftoumi-apracticalminimalismapproachtoinpiperobotlocalization-2019', 'https://ieeexplore.ieee.org/document/8814648', event);\">\n    A Practical Minimalism Approach to In-pipe Robot Localization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wu, Y.; Mittmann, E.; Winston, C.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2019 American Control Conference (ACC)</i>, pages 3180-3187,  2019. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8814648\"\n     onclick=\"log_download('wu-mittmann-winston-youceftoumi-apracticalminimalismapproachtoinpiperobotlocalization-2019', 'https://ieeexplore.ieee.org/document/8814648', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Practical Minimalism Approach to In-pipe Robot Localization [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.23919/ACC.2019.8814648\"\n     onclick=\"log_download('wu-mittmann-winston-youceftoumi-apracticalminimalismapproachtoinpiperobotlocalization-2019', 'http://doi.org/10.23919/ACC.2019.8814648', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wu-mittmann-winston-youceftoumi-apracticalminimalismapproachtoinpiperobotlocalization-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wu-mittmann-winston-youceftoumi-apracticalminimalismapproachtoinpiperobotlocalization-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Pipe_Robot_Localization,\r\ntitle = {A Practical Minimalism Approach to In-pipe Robot Localization},\r\nauthor = {You Wu and Elizabeth Mittmann and Crystal Winston and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/8814648},\r\ndoi = {10.23919/ACC.2019.8814648},\r\nisbn = {978-1-5386-7926-5},\r\nyear  = {2019},\r\ndate = {2019-08-19},\r\nbooktitle = {2019 American Control Conference (ACC)},\r\npages = {3180-3187},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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&#x27;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.},\r\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gest-furokawa-hirano-youceftoumi-designofversatileandlowcostshaftsensorforhealthmonitoring-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8794408\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gest-furokawa-hirano-youceftoumi-designofversatileandlowcostshaftsensorforhealthmonitoring-2019', 'https://ieeexplore.ieee.org/document/8794408', event);\">\n    Design of Versatile and Low-Cost Shaft Sensor for Health Monitoring.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gest, E.; Furokawa, M.; Hirano, T.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In pages 1926-1932,  2019. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8794408\"\n     onclick=\"log_download('gest-furokawa-hirano-youceftoumi-designofversatileandlowcostshaftsensorforhealthmonitoring-2019', 'https://ieeexplore.ieee.org/document/8794408', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design of Versatile and Low-Cost Shaft Sensor for Health Monitoring [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICRA.2019.8794408\"\n     onclick=\"log_download('gest-furokawa-hirano-youceftoumi-designofversatileandlowcostshaftsensorforhealthmonitoring-2019', 'http://doi.org/10.1109/ICRA.2019.8794408', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gest-furokawa-hirano-youceftoumi-designofversatileandlowcostshaftsensorforhealthmonitoring-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gest-furokawa-hirano-youceftoumi-designofversatileandlowcostshaftsensorforhealthmonitoring-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Shaft_Sensor_Health_Monitoring,\r\ntitle = {Design of Versatile and Low-Cost Shaft Sensor for Health Monitoring},\r\nauthor = {Erik Gest and Mikio Furokawa and Takayuki Hirano and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/8794408},\r\ndoi = {10.1109/ICRA.2019.8794408},\r\nisbn = {978-1-5386-6027-0},\r\nyear  = {2019},\r\ndate = {2019-08-12},\r\npages = {1926-1932},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Data-driven learning for intelligent machine maintenance, Experimentation, Fabrication, Instrumentation, intelligent systems, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"paranawithana-chau-yang-chen-youceftoumi-tan-automatictargetingofplantcellsviacellsegmentationandrobustsceneadaptivetracking-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8793944\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'paranawithana-chau-yang-chen-youceftoumi-tan-automatictargetingofplantcellsviacellsegmentationandrobustsceneadaptivetracking-2019', 'https://ieeexplore.ieee.org/document/8793944', event);\">\n    Automatic Targeting of Plant Cells via Cell Segmentation and Robust Scene-Adaptive Tracking.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Paranawithana, I.; Chau, Z. H.; Yang, L.; Chen, Z.; Youcef-Toumi, K.;  and Tan, U.\n</span>\n\n  \n\n</span>\n\n  In <i>2019 International Conference on Robotics and Automation (ICRA)</i>, pages 7116-7122,  2019. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8793944\"\n     onclick=\"log_download('paranawithana-chau-yang-chen-youceftoumi-tan-automatictargetingofplantcellsviacellsegmentationandrobustsceneadaptivetracking-2019', 'https://ieeexplore.ieee.org/document/8793944', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Automatic Targeting of Plant Cells via Cell Segmentation and Robust Scene-Adaptive Tracking [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICRA.2019.8793944\"\n     onclick=\"log_download('paranawithana-chau-yang-chen-youceftoumi-tan-automatictargetingofplantcellsviacellsegmentationandrobustsceneadaptivetracking-2019', 'http://doi.org/10.1109/ICRA.2019.8793944', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/paranawithana-chau-yang-chen-youceftoumi-tan-automatictargetingofplantcellsviacellsegmentationandrobustsceneadaptivetracking-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('paranawithana-chau-yang-chen-youceftoumi-tan-automatictargetingofplantcellsviacellsegmentationandrobustsceneadaptivetracking-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Cell_Segment_Targeting,\r\ntitle = {Automatic Targeting of Plant Cells via Cell Segmentation and Robust Scene-Adaptive Tracking},\r\nauthor = {Ishara Paranawithana and Zhong Hoo Chau and Liangjing Yang and Zhong Chen and Kamal Youcef-Toumi and U-Xuan Tan},\r\nurl = {https://ieeexplore.ieee.org/document/8793944},\r\ndoi = {10.1109/ICRA.2019.8793944},\r\nisbn = {978-1-5386-6027-0},\r\nyear  = {2019},\r\ndate = {2019-08-12},\r\nbooktitle = {2019 International Conference on Robotics and Automation (ICRA)},\r\npages = {7116-7122},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {Automatic targeting of plant cells to perform tasks like extraction of chloroplast is often desired in the study of plant biology. Hence, this paper proposes an improved cell segmentation method combined with a robust tracking algorithm for vision-guided micromanipulation in plant cells. The objective of this work is to develop an automatic plant cell detection and localization technique to complete the automated workflow for plant cell manipulation. The complex structural properties of plant cells make both segmentation of cells and visual tracking of the microneedle immensely challenging, unlike single animal cell applications. Thus, an improved version of watershed segmentation with adaptive thresholding is proposed to detect the plant cells without the need for staining of the cells or additional tedious preparations. To manipulate the needle to reach the identified centroid of the cells, tracking of the needle tip is required. Visual and motion information from two data sources namely, template tracking and projected manipulator trajectory are combined using score-based normalized weighted averaging to continuously track the microneedle. The selection of trackers is influenced by their complementary nature as the former and latter are individually robust against physical and visual uncertainties, respectively. Experimental results validate the effectiveness of the proposed method by detecting plant cell centroids accurately, tracking the microneedle constantly and reaching the plant cell of interest despite the presence of visual disturbances.},\r\nkeywords = {Algorithms, Biological device for cancer cell characterization, Computational Intelligence, Experimentation, Mechatronic Design, Nanotechnology, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Automatic targeting of plant cells to perform tasks like extraction of chloroplast is often desired in the study of plant biology. Hence, this paper proposes an improved cell segmentation method combined with a robust tracking algorithm for vision-guided micromanipulation in plant cells. The objective of this work is to develop an automatic plant cell detection and localization technique to complete the automated workflow for plant cell manipulation. The complex structural properties of plant cells make both segmentation of cells and visual tracking of the microneedle immensely challenging, unlike single animal cell applications. Thus, an improved version of watershed segmentation with adaptive thresholding is proposed to detect the plant cells without the need for staining of the cells or additional tedious preparations. To manipulate the needle to reach the identified centroid of the cells, tracking of the needle tip is required. Visual and motion information from two data sources namely, template tracking and projected manipulator trajectory are combined using score-based normalized weighted averaging to continuously track the microneedle. The selection of trackers is influenced by their complementary nature as the former and latter are individually robust against physical and visual uncertainties, respectively. Experimental results validate the effectiveness of the proposed method by detecting plant cell centroids accurately, tracking the microneedle constantly and reaching the plant cell of interest despite the presence of visual disturbances.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yang, C; Xia, F; Wang, Y; Truncale, S;  and Youcef-Toumi, K\n</span>\n\n  \n\n</span>\n\n  In <i>2019 American Control Conference (ACC)</i>, pages 3782-3788,  2019. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.23919/ACC.2019.8815299\"\n     onclick=\"log_download('yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019', 'http://doi.org/10.23919/ACC.2019.8815299', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-xia-wang-truncale-youceftoumi-designandcontrolofamultiactuatednanopositioningstagewithstackedstructure-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Nanopositioning_Stage_Stacked,\r\ntitle = {Design and Control of a Multi-Actuated Nanopositioning Stage with Stacked Structure},\r\nauthor = {C Yang and F Xia and Y Wang and S Truncale and K Youcef-Toumi},\r\ndoi = {10.23919/ACC.2019.8815299},\r\nissn = {2378-5861},\r\nyear  = {2019},\r\ndate = {2019-07-12},\r\nbooktitle = {2019 American Control Conference (ACC)},\r\njournal = {xplore},\r\npages = {3782-3788},\r\npublisher = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Direct-drive robots for laser cutting manufacturing, Fabrication, Instrumentation, Mechatronic Design, Robotics &amp;amp; Automation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xia-yang-wang-youceftoumi-reuter-ivanov-holz-rangelow-lightsoutnanoscaletopographyimagingofsamplesurfaceinopaqueliquidenvironmentswithcoatedactivecantileverprobes-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6669515/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xia-yang-wang-youceftoumi-reuter-ivanov-holz-rangelow-lightsoutnanoscaletopographyimagingofsamplesurfaceinopaqueliquidenvironmentswithcoatedactivecantileverprobes-2019', 'https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6669515/', event);\">\n    Lights Out! Nano-Scale Topography Imaging of Sample Surface in Opaque Liquid Environments with Coated Active Cantilever Probes.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xia, F.; Yang, C.; Wang, Y.; Youcef-Toumi, K.; Reuter, C.; Ivanov, T.; Holz, M.;  and Rangelow, I. W\n</span>\n\n  \n\n</span>\n\n  <i>Nanomaterials</i>, 9(7): 1013.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6669515/\"\n     onclick=\"log_download('xia-yang-wang-youceftoumi-reuter-ivanov-holz-rangelow-lightsoutnanoscaletopographyimagingofsamplesurfaceinopaqueliquidenvironmentswithcoatedactivecantileverprobes-2019', 'https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6669515/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Lights Out! Nano-Scale Topography Imaging of Sample Surface in Opaque Liquid Environments with Coated Active Cantilever Probes [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.3390/nano9071013\"\n     onclick=\"log_download('xia-yang-wang-youceftoumi-reuter-ivanov-holz-rangelow-lightsoutnanoscaletopographyimagingofsamplesurfaceinopaqueliquidenvironmentswithcoatedactivecantileverprobes-2019', 'http://doi.org/10.3390/nano9071013', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xia-yang-wang-youceftoumi-reuter-ivanov-holz-rangelow-lightsoutnanoscaletopographyimagingofsamplesurfaceinopaqueliquidenvironmentswithcoatedactivecantileverprobes-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xia-yang-wang-youceftoumi-reuter-ivanov-holz-rangelow-lightsoutnanoscaletopographyimagingofsamplesurfaceinopaqueliquidenvironmentswithcoatedactivecantileverprobes-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_coated_probe,\r\ntitle = {Lights Out! Nano-Scale Topography Imaging of Sample Surface in Opaque Liquid Environments with Coated Active Cantilever Probes},\r\nauthor = {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},\r\nurl = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6669515/},\r\ndoi = {10.3390/nano9071013},\r\nyear  = {2019},\r\ndate = {2019-07-09},\r\njournal = {Nanomaterials},\r\nvolume = {9},\r\nnumber = {7},\r\npages = {1013},\r\npublisher = {Multidisciplinary Digital Publishing Institute},\r\nabstract = {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.},\r\nkeywords = {Experimentation, Fabrication, Full text available online, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vanslette-alanqari-alawwad-youceftoumi-vectorizeduncertaintypropagationandinputprobabilitysensitivityanalysis-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/1908.11246\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'vanslette-alanqari-alawwad-youceftoumi-vectorizeduncertaintypropagationandinputprobabilitysensitivityanalysis-2019', 'https://arxiv.org/abs/1908.11246', event);\">\n    Vectorized Uncertainty Propagation and Input Probability Sensitivity Analysis.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Vanslette, K.; Alanqari, A.; Al-awwad, Z.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  .  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/1908.11246\"\n     onclick=\"log_download('vanslette-alanqari-alawwad-youceftoumi-vectorizeduncertaintypropagationandinputprobabilitysensitivityanalysis-2019', 'https://arxiv.org/abs/1908.11246', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Vectorized Uncertainty Propagation and Input Probability Sensitivity Analysis [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/1908.11246v1\"\n     onclick=\"log_download('vanslette-alanqari-alawwad-youceftoumi-vectorizeduncertaintypropagationandinputprobabilitysensitivityanalysis-2019', 'http://doi.org/1908.11246v1', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vanslette-alanqari-alawwad-youceftoumi-vectorizeduncertaintypropagationandinputprobabilitysensitivityanalysis-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vanslette-alanqari-alawwad-youceftoumi-vectorizeduncertaintypropagationandinputprobabilitysensitivityanalysis-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Vectorized_Uncertainty_Input_Probability,\r\ntitle = {Vectorized Uncertainty Propagation and Input Probability Sensitivity Analysis},\r\nauthor = {Kevin Vanslette and Arwa Alanqari and Zeyad Al-awwad and Kamal Youcef-Toumi},\r\nurl = {https://arxiv.org/abs/1908.11246},\r\ndoi = {1908.11246v1},\r\nyear  = {2019},\r\ndate = {2019-06-04},\r\npublisher = {King Abdulaziz City for Science and Technology},\r\nabstract = {In this article we construct a theoretical and computational process for assessing Input Probability Sensitivity Analysis (IPSA) using a Graphics Processing Unit (GPU) enabled technique called Vectorized Uncertainty \r\nPropagation (VUP). VUP propagates probability distributions through \r\na parametric computational model in a way that’s computational time \r\ncomplexity grows sublinearly in the number of distinct propagated input probability distributions. VUP can therefore be used to efficiently \r\nimplement IPSA, which estimates a model’s probabilistic sensitivity to \r\nmeasurement and parametric uncertainty over each relevant measurement \r\nlocation. Theory and simulation illustrate the effectiveness of these methods.},\r\nkeywords = {Algorithms, Computational Intelligence, Experimentation, Uncertainty estimation and calibration for modeling},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this article we construct a theoretical and computational process for assessing Input Probability Sensitivity Analysis (IPSA) using a Graphics Processing Unit (GPU) enabled technique called Vectorized Uncertainty Propagation (VUP). VUP propagates probability distributions through a parametric computational model in a way that’s computational time complexity grows sublinearly in the number of distinct propagated input probability distributions. VUP can therefore be used to efficiently implement IPSA, which estimates a model’s probabilistic sensitivity to measurement and parametric uncertainty over each relevant measurement location. Theory and simulation illustrate the effectiveness of these methods.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jahanian-le-youceftoumi-tsetserukou-seetheewastetrainingvisualintelligencetoseedensecircuitboardsforrecycling-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://openaccess.thecvf.com/content_CVPRW_2019/html/cv4gc/Jahanian_See_the_E-Waste_Training_Visual_Intelligence_to_See_Dense_Circuit_CVPRW_2019_paper.html\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jahanian-le-youceftoumi-tsetserukou-seetheewastetrainingvisualintelligencetoseedensecircuitboardsforrecycling-2019', 'https://openaccess.thecvf.com/content_CVPRW_2019/html/cv4gc/Jahanian_See_the_E-Waste_Training_Visual_Intelligence_to_See_Dense_Circuit_CVPRW_2019_paper.html', event);\">\n    See the E-Waste! Training Visual Intelligence to See Dense Circuit Boards for Recycling.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jahanian, A.; Le, Q. H; Youcef-Toumi, K.;  and Tsetserukou, D.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops</i>,  2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://openaccess.thecvf.com/content_CVPRW_2019/html/cv4gc/Jahanian_See_the_E-Waste_Training_Visual_Intelligence_to_See_Dense_Circuit_CVPRW_2019_paper.html\"\n     onclick=\"log_download('jahanian-le-youceftoumi-tsetserukou-seetheewastetrainingvisualintelligencetoseedensecircuitboardsforrecycling-2019', 'https://openaccess.thecvf.com/content_CVPRW_2019/html/cv4gc/Jahanian_See_the_E-Waste_Training_Visual_Intelligence_to_See_Dense_Circuit_CVPRW_2019_paper.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"See the E-Waste! Training Visual Intelligence to See Dense Circuit Boards for Recycling [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jahanian-le-youceftoumi-tsetserukou-seetheewastetrainingvisualintelligencetoseedensecircuitboardsforrecycling-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jahanian-le-youceftoumi-tsetserukou-seetheewastetrainingvisualintelligencetoseedensecircuitboardsforrecycling-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Training_CB_Recycling,\r\ntitle = {See the E-Waste! Training Visual Intelligence to See Dense Circuit Boards for Recycling},\r\nauthor = {Ali Jahanian and Quang H Le and Kamal Youcef-Toumi and Dzmitry Tsetserukou},\r\nurl = {https://openaccess.thecvf.com/content_CVPRW_2019/html/cv4gc/Jahanian_See_the_E-Waste_Training_Visual_Intelligence_to_See_Dense_Circuit_CVPRW_2019_paper.html},\r\nyear  = {2019},\r\ndate = {2019-06-01},\r\nbooktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},\r\nabstract = {The state-of-the-art semantic segmentation and object detection deep learning models are taking the leap to generalize and leverage automation, but have yet to be useful in real-world tasks such as those in dense circuit board robotic manipulation. Consider a cellphone circuit board that because of small components and a couple of hundred microns gaps between them challenges any manipulation task. For effective automation and robotics usage in manufacturing, we tackle this problem by building a convolutional neural networks optimized for multi-task learning of instance semantic segmentation and detection while accounting for crisp boundaries of small components inside dense boards. We explore the feature learning mechanism, and add the auxiliary task of boundary detection to encourage the network to learn the objects&#x27; geometric properties along with the other objectives. We examine the performance of the networks in the visual tasks (separately and all together), and the extent of generalization on the recycling phone dataset. Our network outperformed the state-of-the-art in the visual tasks while maintaining the high speed of computation. To facilitate this globally concerning topic, we provide a benchmark for Ewaste visual tasks research, and publicize our collected dataset and code, as well as demos on our in-lab robot at https://github.com/MIT-MRL/recybot. pubstate = published},\r\nkeywords = {Algorithms, Automated cellphone recycling, Computational Intelligence, Experimentation, Mechatronic Design, Robotics &amp;amp; Automation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The state-of-the-art semantic segmentation and object detection deep learning models are taking the leap to generalize and leverage automation, but have yet to be useful in real-world tasks such as those in dense circuit board robotic manipulation. Consider a cellphone circuit board that because of small components and a couple of hundred microns gaps between them challenges any manipulation task. For effective automation and robotics usage in manufacturing, we tackle this problem by building a convolutional neural networks optimized for multi-task learning of instance semantic segmentation and detection while accounting for crisp boundaries of small components inside dense boards. We explore the feature learning mechanism, and add the auxiliary task of boundary detection to encourage the network to learn the objects' geometric properties along with the other objectives. We examine the performance of the networks in the visual tasks (separately and all together), and the extent of generalization on the recycling phone dataset. Our network outperformed the state-of-the-art in the visual tasks while maintaining the high speed of computation. To facilitate this globally concerning topic, we provide a benchmark for Ewaste visual tasks research, and publicize our collected dataset and code, as well as demos on our in-lab robot at https://github.com/MIT-MRL/recybot. pubstate = published\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"meng-jiang-samolis-alrished-youceftoumi-unevenlyspacedcontinuousmeasurementapproachfordualrotatingretardermuellermatrixellipsometry-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.opticsexpress.org/abstract.cfm?URI=oe-27-10-14736\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'meng-jiang-samolis-alrished-youceftoumi-unevenlyspacedcontinuousmeasurementapproachfordualrotatingretardermuellermatrixellipsometry-2019', 'http://www.opticsexpress.org/abstract.cfm?URI=oe-27-10-14736', event);\">\n    Unevenly spaced continuous measurement approach for dual rotating–retarder Mueller matrix ellipsometry.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Meng, K.; Jiang, B.; Samolis, C. D; Alrished, M.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Opt. Express</i>, 27(10): 14736–14753.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.opticsexpress.org/abstract.cfm?URI=oe-27-10-14736\"\n     onclick=\"log_download('meng-jiang-samolis-alrished-youceftoumi-unevenlyspacedcontinuousmeasurementapproachfordualrotatingretardermuellermatrixellipsometry-2019', 'http://www.opticsexpress.org/abstract.cfm?URI=oe-27-10-14736', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Unevenly spaced continuous measurement approach for dual rotating–retarder Mueller matrix ellipsometry [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1364/OE.27.014736\"\n     onclick=\"log_download('meng-jiang-samolis-alrished-youceftoumi-unevenlyspacedcontinuousmeasurementapproachfordualrotatingretardermuellermatrixellipsometry-2019', 'http://doi.org/10.1364/OE.27.014736', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/meng-jiang-samolis-alrished-youceftoumi-unevenlyspacedcontinuousmeasurementapproachfordualrotatingretardermuellermatrixellipsometry-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('meng-jiang-samolis-alrished-youceftoumi-unevenlyspacedcontinuousmeasurementapproachfordualrotatingretardermuellermatrixellipsometry-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Dual_Rotating_Retarder_Mueller,\r\ntitle = {Unevenly spaced continuous measurement approach for dual rotating--retarder Mueller matrix ellipsometry},\r\nauthor = {Kai Meng and Bo Jiang and Christos D Samolis and Mohamad Alrished and Kamal Youcef-Toumi},\r\nurl = {http://www.opticsexpress.org/abstract.cfm?URI=oe-27-10-14736},\r\ndoi = {10.1364/OE.27.014736},\r\nissn = {1094-4087},\r\nyear  = {2019},\r\ndate = {2019-05-01},\r\njournal = {Opt. Express},\r\nvolume = {27},\r\nnumber = {10},\r\npages = {14736--14753},\r\npublisher = {OSA},\r\nabstract = {In order to efficiently extract the sample Mueller matrix by dual rotating&amp;#x2013;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.},\r\nkeywords = {Algorithms, Computational Intelligence, Intelligent optical characterization for nano-manufacturing, Nanotechnology, Physical System Modeling},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In order to efficiently extract the sample Mueller matrix by dual rotating&#x2013;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.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8466119\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth-2018', 'https://ieeexplore.ieee.org/document/8466119', event);\">\n    Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yang, C.; Li, C.; Xia, F.; Zhu, Y.; Zhao, J.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Industrial Electronics</i>, 66(7): 5392–5402.  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8466119\"\n     onclick=\"log_download('yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth-2018', 'https://ieeexplore.ieee.org/document/8466119', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TIE.2018.2868321\"\n     onclick=\"log_download('yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth-2018', 'http://doi.org/10.1109/TIE.2018.2868321', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Charge_Controller_Self_Compensating,\r\ntitle = {Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth},\r\nauthor = {Chen Yang and Changle Li and Fangzhou Xia and Yanhe Zhu and Jie Zhao and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/8466119},\r\ndoi = {10.1109/TIE.2018.2868321},\r\nyear  = {2018},\r\ndate = {2018-09-14},\r\njournal = {IEEE Transactions on Industrial Electronics},\r\nvolume = {66},\r\nnumber = {7},\r\npages = {5392--5402},\r\npublisher = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xia-truncale-wang-youceftoumi-designandcontrolofamultiactuatedhighbandwidthandlargerangescannerforatomicforcemicroscopy-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8431801\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xia-truncale-wang-youceftoumi-designandcontrolofamultiactuatedhighbandwidthandlargerangescannerforatomicforcemicroscopy-2018', 'https://ieeexplore.ieee.org/document/8431801', event);\">\n    Design and Control of a Multi-actuated High-bandwidth and Large-range Scanner for Atomic Force Microscopy.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xia, F.; Truncale, S.; Wang, Y.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2018 Annual American Control Conference (ACC)</i>, pages 4330–4335,  2018. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8431801\"\n     onclick=\"log_download('xia-truncale-wang-youceftoumi-designandcontrolofamultiactuatedhighbandwidthandlargerangescannerforatomicforcemicroscopy-2018', 'https://ieeexplore.ieee.org/document/8431801', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Control of a Multi-actuated High-bandwidth and Large-range Scanner for Atomic Force Microscopy [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.23919/ACC.2018.8431801\"\n     onclick=\"log_download('xia-truncale-wang-youceftoumi-designandcontrolofamultiactuatedhighbandwidthandlargerangescannerforatomicforcemicroscopy-2018', 'http://doi.org/10.23919/ACC.2018.8431801', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xia-truncale-wang-youceftoumi-designandcontrolofamultiactuatedhighbandwidthandlargerangescannerforatomicforcemicroscopy-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xia-truncale-wang-youceftoumi-designandcontrolofamultiactuatedhighbandwidthandlargerangescannerforatomicforcemicroscopy-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Dual_Actuated_Scanner,\r\ntitle = {Design and Control of a Multi-actuated High-bandwidth and Large-range Scanner for Atomic Force Microscopy},\r\nauthor = {Fangzhou Xia and Stephen Truncale and Yi Wang and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/8431801},\r\ndoi = {10.23919/ACC.2018.8431801},\r\nyear  = {2018},\r\ndate = {2018-08-16},\r\nbooktitle = {2018 Annual American Control Conference (ACC)},\r\npages = {4330--4335},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"altoaimy-alromih-almegren-alhudhud-kurdi-youceftoumi-contextawaregossipbasedprotocolforinternetofthingsapplications-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.mdpi.com/1424-8220/18/7/2233\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'altoaimy-alromih-almegren-alhudhud-kurdi-youceftoumi-contextawaregossipbasedprotocolforinternetofthingsapplications-2018', 'https://www.mdpi.com/1424-8220/18/7/2233', event);\">\n    Context-Aware Gossip-Based Protocol for Internet of Things Applications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Altoaimy, L.; Alromih, A.; Al-Megren, S.; Al-Hudhud, G.; Kurdi, H.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Sensors</i>, 18(7).  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.mdpi.com/1424-8220/18/7/2233\"\n     onclick=\"log_download('altoaimy-alromih-almegren-alhudhud-kurdi-youceftoumi-contextawaregossipbasedprotocolforinternetofthingsapplications-2018', 'https://www.mdpi.com/1424-8220/18/7/2233', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Context-Aware Gossip-Based Protocol for Internet of Things Applications [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.3390/s18072233\"\n     onclick=\"log_download('altoaimy-alromih-almegren-alhudhud-kurdi-youceftoumi-contextawaregossipbasedprotocolforinternetofthingsapplications-2018', 'http://doi.org/10.3390/s18072233', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/altoaimy-alromih-almegren-alhudhud-kurdi-youceftoumi-contextawaregossipbasedprotocolforinternetofthingsapplications-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('altoaimy-alromih-almegren-alhudhud-kurdi-youceftoumi-contextawaregossipbasedprotocolforinternetofthingsapplications-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Gossip_Protocal_Internet_App,\r\ntitle = {Context-Aware Gossip-Based Protocol for Internet of Things Applications},\r\nauthor = {Lina Altoaimy and Arwa Alromih and Shiroq Al-Megren and Ghada Al-Hudhud and Heba Kurdi and Kamal Youcef-Toumi},\r\nurl = {https://www.mdpi.com/1424-8220/18/7/2233},\r\ndoi = {10.3390/s18072233},\r\nissn = {1424-8220},\r\nyear  = {2018},\r\ndate = {2018-07-11},\r\njournal = {Sensors},\r\nvolume = {18},\r\nnumber = {7},\r\npublisher = {MDPI},\r\nabstract = {This paper proposes a gossip-based protocol that utilises a multi-factor weighting function (MFWF) that takes several parameters into account: residual energy, Chebyshev distances to neighbouring nodes and the sink node, node density, and message priority. The effects of these parameters were examined to guide the customization of the weight function to effectively disseminate data to three types of IoT applications: critical, bandwidth-intensive, and energy-efficient applications. The performances of the three resulting MFWFs were assessed in comparison with the performances of the traditional gossiping protocol and the Fair Efficient Location-based Gossiping (FELGossiping) protocol in terms of end-to-end delay, network lifetime, rebroadcast nodes, and saved rebroadcasts. The experimental results demonstrated the proposed protocol&amp;rsquo;s ability to achieve a much shorter delay for critical IoT applications. For bandwidth-intensive IoT application, the proposed protocol was able to achieve a smaller percentage of rebroadcast nodes and an increased percentage of saved rebroadcasts, i.e., better bandwidth utilisation. The adapted MFWF for energy-efficient IoT application was able to improve the network lifetime compared to that of gossiping and FELGossiping. These results demonstrate the high level of flexibility of the proposed protocol with respect to network context and message priority.},\r\nkeywords = {Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper proposes a gossip-based protocol that utilises a multi-factor weighting function (MFWF) that takes several parameters into account: residual energy, Chebyshev distances to neighbouring nodes and the sink node, node density, and message priority. The effects of these parameters were examined to guide the customization of the weight function to effectively disseminate data to three types of IoT applications: critical, bandwidth-intensive, and energy-efficient applications. The performances of the three resulting MFWFs were assessed in comparison with the performances of the traditional gossiping protocol and the Fair Efficient Location-based Gossiping (FELGossiping) protocol in terms of end-to-end delay, network lifetime, rebroadcast nodes, and saved rebroadcasts. The experimental results demonstrated the proposed protocol&rsquo;s ability to achieve a much shorter delay for critical IoT applications. For bandwidth-intensive IoT application, the proposed protocol was able to achieve a smaller percentage of rebroadcast nodes and an increased percentage of saved rebroadcasts, i.e., better bandwidth utilisation. The adapted MFWF for energy-efficient IoT application was able to improve the network lifetime compared to that of gossiping and FELGossiping. These results demonstrate the high level of flexibility of the proposed protocol with respect to network context and message priority.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kurdi-ezzat-altoaimy-ahmed-youceftoumi-multicuckoomulticloudservicecompositionusingacuckooinspiredalgorithmfortheinternetofthingsapplications-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8476294?denied=\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kurdi-ezzat-altoaimy-ahmed-youceftoumi-multicuckoomulticloudservicecompositionusingacuckooinspiredalgorithmfortheinternetofthingsapplications-2018', 'https://ieeexplore.ieee.org/document/8476294?denied=', event);\">\n    MultiCuckoo: Multi-Cloud Service Composition Using a Cuckoo-Inspired Algorithm for the Internet of Things Applications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kurdi, H; Ezzat, F; Altoaimy, L; Ahmed, S H;  and Youcef-Toumi, K\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Access</i>, 6: 56737-56749.  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8476294?denied=\"\n     onclick=\"log_download('kurdi-ezzat-altoaimy-ahmed-youceftoumi-multicuckoomulticloudservicecompositionusingacuckooinspiredalgorithmfortheinternetofthingsapplications-2018', 'https://ieeexplore.ieee.org/document/8476294?denied=', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"MultiCuckoo: Multi-Cloud Service Composition Using a Cuckoo-Inspired Algorithm for the Internet of Things Applications [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACCESS.2018.2872744\"\n     onclick=\"log_download('kurdi-ezzat-altoaimy-ahmed-youceftoumi-multicuckoomulticloudservicecompositionusingacuckooinspiredalgorithmfortheinternetofthingsapplications-2018', 'http://doi.org/10.1109/ACCESS.2018.2872744', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kurdi-ezzat-altoaimy-ahmed-youceftoumi-multicuckoomulticloudservicecompositionusingacuckooinspiredalgorithmfortheinternetofthingsapplications-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kurdi-ezzat-altoaimy-ahmed-youceftoumi-multicuckoomulticloudservicecompositionusingacuckooinspiredalgorithmfortheinternetofthingsapplications-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_MultiCuckoo,\r\ntitle = {MultiCuckoo: Multi-Cloud Service Composition Using a Cuckoo-Inspired Algorithm for the Internet of Things Applications},\r\nauthor = {H Kurdi and F Ezzat and L Altoaimy and S H Ahmed and K Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/8476294?denied=},\r\ndoi = {10.1109/ACCESS.2018.2872744},\r\nissn = {2169-3536},\r\nyear  = {2018},\r\ndate = {2018-01-01},\r\njournal = {IEEE Access},\r\nvolume = {6},\r\npages = {56737-56749},\r\npublisher = {IEEE},\r\nabstract = {Internet of things (IoT) applications aim to provide access to widespread interconnected networks of smart devices, services, and information. This can be achieved by integrating IoT and cloud computing (CC). By using cloud computing service composition (SC), multiple services from various providers can be combined to meet users&#x27; requirements. However, SC is known for its complexity and is classified as an NP-hard problem; such problems are usually approached using heuristics, such as bioinspired algorithms. This paper aims at developing a bio-inspired algorithm that mimics the behavior of cuckoo birds (which examine the nests of other birds to find eggs similar to their own) to find a composite service that fulfills a user&#x27;s request in a multi-cloud environment (MCE). Previous work on cuckoo-inspired algorithms has generally utilized metaheuristics, which try to fit a “good”solution to a general optimization problem. In contrast, we propose a problem-dependent heuristic that considers the SC problem and its particularities in MCE. The proposed algorithm, MultiCuckoo, was thoroughly evaluated based on a well-controlled experimental framework that benchmarks the performance of the new algorithm to other outstanding SC algorithms, including the all clouds combination algorithm, base cloud combination algorithm, and combinatorial optimization algorithm for multiple cloud service Composition. The results show that our algorithm is more efficient in terms of decreasing the number of examined services, the composed clouds, and the running time in comparison to the benchmark algorithms.},\r\nkeywords = {Algorithms, Computational Intelligence, Data-driven learning for intelligent machine maintenance, intelligent systems, Mechatronic Design, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Internet of things (IoT) applications aim to provide access to widespread interconnected networks of smart devices, services, and information. This can be achieved by integrating IoT and cloud computing (CC). By using cloud computing service composition (SC), multiple services from various providers can be combined to meet users' requirements. However, SC is known for its complexity and is classified as an NP-hard problem; such problems are usually approached using heuristics, such as bioinspired algorithms. This paper aims at developing a bio-inspired algorithm that mimics the behavior of cuckoo birds (which examine the nests of other birds to find eggs similar to their own) to find a composite service that fulfills a user's request in a multi-cloud environment (MCE). Previous work on cuckoo-inspired algorithms has generally utilized metaheuristics, which try to fit a “good”solution to a general optimization problem. In contrast, we propose a problem-dependent heuristic that considers the SC problem and its particularities in MCE. The proposed algorithm, MultiCuckoo, was thoroughly evaluated based on a well-controlled experimental framework that benchmarks the performance of the new algorithm to other outstanding SC algorithms, including the all clouds combination algorithm, base cloud combination algorithm, and combinatorial optimization algorithm for multiple cloud service Composition. The results show that our algorithm is more efficient in terms of decreasing the number of examined services, the composed clouds, and the running time in comparison to the benchmark algorithms.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2017\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2017')\"\n      onkeypress=\"toggleGroup('group_2017')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2017</span>\n      <span class=\"bibbase_group_count\">\n        \n        (5)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"rangelow-ivanov-ahmad-kaestner-lenk-bozchalooi-xia-youceftoumi-etal-reviewarticleactivescanningprobesaversatiletoolkitforfastimagingandemergingnanofabrication-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://avs.scitation.org/doi/full/10.1116/1.4992073\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rangelow-ivanov-ahmad-kaestner-lenk-bozchalooi-xia-youceftoumi-etal-reviewarticleactivescanningprobesaversatiletoolkitforfastimagingandemergingnanofabrication-2017', 'https://avs.scitation.org/doi/full/10.1116/1.4992073', event);\">\n    Review Article: Active scanning probes: A versatile toolkit for fast imaging and emerging nanofabrication.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rangelow, I. W; Ivanov, T.; Ahmad, A.; Kaestner, M.; Lenk, C.; Bozchalooi, I. S.; Xia, F.; Youcef-Toumi, K.; Holz, M.;  and Reum, A.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Vacuum Science &amp;amp; Technology B, Nanotechnology and Microelectronics: Materials, Processing, Measurement, and Phenomena</i>, 35(6): 06G101.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://avs.scitation.org/doi/full/10.1116/1.4992073\"\n     onclick=\"log_download('rangelow-ivanov-ahmad-kaestner-lenk-bozchalooi-xia-youceftoumi-etal-reviewarticleactivescanningprobesaversatiletoolkitforfastimagingandemergingnanofabrication-2017', 'https://avs.scitation.org/doi/full/10.1116/1.4992073', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Review Article: Active scanning probes: A versatile toolkit for fast imaging and emerging nanofabrication [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1116/1.4992073\"\n     onclick=\"log_download('rangelow-ivanov-ahmad-kaestner-lenk-bozchalooi-xia-youceftoumi-etal-reviewarticleactivescanningprobesaversatiletoolkitforfastimagingandemergingnanofabrication-2017', 'http://doi.org/10.1116/1.4992073', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rangelow-ivanov-ahmad-kaestner-lenk-bozchalooi-xia-youceftoumi-etal-reviewarticleactivescanningprobesaversatiletoolkitforfastimagingandemergingnanofabrication-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rangelow-ivanov-ahmad-kaestner-lenk-bozchalooi-xia-youceftoumi-etal-reviewarticleactivescanningprobesaversatiletoolkitforfastimagingandemergingnanofabrication-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_active_probe_review,\r\ntitle = {Review Article: Active scanning probes: A versatile toolkit for fast imaging and emerging nanofabrication},\r\nauthor = {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},\r\nurl = {https://avs.scitation.org/doi/full/10.1116/1.4992073},\r\ndoi = {10.1116/1.4992073},\r\nyear  = {2017},\r\ndate = {2017-11-03},\r\njournal = {Journal of Vacuum Science &amp;amp;amp; Technology B, Nanotechnology and Microelectronics: Materials, Processing, Measurement, and Phenomena},\r\nvolume = {35},\r\nnumber = {6},\r\npages = {06G101},\r\npublisher = {American Vacuum Society},\r\nabstract = {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.},\r\nkeywords = {Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yang-paranawithana-youceftoumi-tan-automaticvisionguidedmicromanipulationforversatiledeploymentandportablesetup-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Automatic Vision-Guided Micromanipulation for Versatile Deployment and Portable Setup.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yang, L; Paranawithana, I; Youcef-Toumi, K;  and Tan, U\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automation Science and Engineering</i>, 15(4): 1609-1620.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TASE.2017.2754517\"\n     onclick=\"log_download('yang-paranawithana-youceftoumi-tan-automaticvisionguidedmicromanipulationforversatiledeploymentandportablesetup-2017', 'http://doi.org/10.1109/TASE.2017.2754517', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-paranawithana-youceftoumi-tan-automaticvisionguidedmicromanipulationforversatiledeploymentandportablesetup-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-paranawithana-youceftoumi-tan-automaticvisionguidedmicromanipulationforversatiledeploymentandportablesetup-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Automatic_Micromanipulation,\r\ntitle = {Automatic Vision-Guided Micromanipulation for Versatile Deployment and Portable Setup},\r\nauthor = {L Yang and I Paranawithana and K Youcef-Toumi and U Tan},\r\ndoi = {10.1109/TASE.2017.2754517},\r\nissn = {1558-3783},\r\nyear  = {2017},\r\ndate = {2017-10-23},\r\njournal = {IEEE Transactions on Automation Science and Engineering},\r\nvolume = {15},\r\nnumber = {4},\r\npages = {1609-1620},\r\npublisher = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Mechatronic Design, Physical System Modeling, Robot operated modular fixtures, Robotics &amp;amp; Automation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"titri-larbes-toumi-benatchba-anewmpptcontrollerbasedontheantcolonyoptimizationalgorithmforphotovoltaicsystemsunderpartialshadingconditions-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S1568494617302703\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'titri-larbes-toumi-benatchba-anewmpptcontrollerbasedontheantcolonyoptimizationalgorithmforphotovoltaicsystemsunderpartialshadingconditions-2017', 'https://www.sciencedirect.com/science/article/pii/S1568494617302703', event);\">\n    A new MPPT controller based on the Ant colony optimization algorithm for Photovoltaic systems under partial shading conditions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Titri, S.; Larbes, C.; Toumi, K. Y.;  and Benatchba, K.\n</span>\n\n  \n\n</span>\n\n  <i>Applied Soft Computing</i>, 58: 465-479.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S1568494617302703\"\n     onclick=\"log_download('titri-larbes-toumi-benatchba-anewmpptcontrollerbasedontheantcolonyoptimizationalgorithmforphotovoltaicsystemsunderpartialshadingconditions-2017', 'https://www.sciencedirect.com/science/article/pii/S1568494617302703', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A new MPPT controller based on the Ant colony optimization algorithm for Photovoltaic systems under partial shading conditions [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.asoc.2017.05.017\"\n     onclick=\"log_download('titri-larbes-toumi-benatchba-anewmpptcontrollerbasedontheantcolonyoptimizationalgorithmforphotovoltaicsystemsunderpartialshadingconditions-2017', 'http://doi.org/https://doi.org/10.1016/j.asoc.2017.05.017', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/titri-larbes-toumi-benatchba-anewmpptcontrollerbasedontheantcolonyoptimizationalgorithmforphotovoltaicsystemsunderpartialshadingconditions-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('titri-larbes-toumi-benatchba-anewmpptcontrollerbasedontheantcolonyoptimizationalgorithmforphotovoltaicsystemsunderpartialshadingconditions-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_MPPT_Controller_Ants,\r\ntitle = {A new MPPT controller based on the Ant colony optimization algorithm for Photovoltaic systems under partial shading conditions},\r\nauthor = {Sabrina Titri and Cherif Larbes and Kamal Youcef Toumi and Karima Benatchba},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S1568494617302703},\r\ndoi = {https://doi.org/10.1016/j.asoc.2017.05.017},\r\nissn = {1568-4946},\r\nyear  = {2017},\r\ndate = {2017-09-01},\r\njournal = {Applied Soft Computing},\r\nvolume = {58},\r\npages = {465-479},\r\nabstract = {The Maximum Power Point Tracking controller (MPPT) is a key element in Photovoltaic systems (PV). It is used to maintain the PV operating point at its maximum under different temperatures and sunlight irradiations. The goal of a MPPT controller is to satisfy the following performances criteria: accuracy, precision, speed, robustness and handling the partial shading problem when climatic changes variations occur. To achieve this goal, several techniques have been proposed ranging from conventional methods to artificial intelligence and bio-inspired methods. Each technique has its own advantage and disadvantage. In this context, we propose in this paper, a new Bio- inspired MPPT controller based on the Ant colony Optimization algorithm with a New Pheromone Updating strategy (ACO_NPU MPPT) that saves the computation time and performs an excellent tracking capability with high accuracy, zero oscillations and high robustness. First, the different steps of the design of the proposed ACO_NPU MPPT controller are developed. Then, several tests are performed under standard conditions for the selection of the appropriate ACO_NPU parameters (number of ants, coefficients of evaporation, archive size, etc.). To evaluate the performances of the obtained ACO_NPU MPPT, in terms of its tracking speed, accuracy, stability and robustness, tests are carried out under slow and rapid variations of weather conditions (Irradiance and Temperature) and under different partial shading patterns. Moreover, to demonstrate the superiority and robustness of the proposed ACO_NPU_MPPT controller, the obtained results are analyzed and compared with others obtained from the Conventional Methods (P&amp;O_MPPT) and the Soft Computing Methods with Artificial intelligence (ANN_MPPT, FLC_MPPT, ANFIS_MPPT, FL_GA_MPPT) and with the Bio Inspired methods (PSO) and (ACO) from the literature. The obtained results show that the proposed ACO_NPU MPPT controller gives the best performances under variables atmospheric conditions. In addition, it can easily track the global maximum power point (GMPP) under partial shading conditions.},\r\nkeywords = {Algorithms, Computational Intelligence, intelligent systems, Mechatronic Design, Probabilistic neural networks for robust machine learning, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The Maximum Power Point Tracking controller (MPPT) is a key element in Photovoltaic systems (PV). It is used to maintain the PV operating point at its maximum under different temperatures and sunlight irradiations. The goal of a MPPT controller is to satisfy the following performances criteria: accuracy, precision, speed, robustness and handling the partial shading problem when climatic changes variations occur. To achieve this goal, several techniques have been proposed ranging from conventional methods to artificial intelligence and bio-inspired methods. Each technique has its own advantage and disadvantage. In this context, we propose in this paper, a new Bio- inspired MPPT controller based on the Ant colony Optimization algorithm with a New Pheromone Updating strategy (ACO_NPU MPPT) that saves the computation time and performs an excellent tracking capability with high accuracy, zero oscillations and high robustness. First, the different steps of the design of the proposed ACO_NPU MPPT controller are developed. Then, several tests are performed under standard conditions for the selection of the appropriate ACO_NPU parameters (number of ants, coefficients of evaporation, archive size, etc.). To evaluate the performances of the obtained ACO_NPU MPPT, in terms of its tracking speed, accuracy, stability and robustness, tests are carried out under slow and rapid variations of weather conditions (Irradiance and Temperature) and under different partial shading patterns. Moreover, to demonstrate the superiority and robustness of the proposed ACO_NPU_MPPT controller, the obtained results are analyzed and compared with others obtained from the Conventional Methods (P&O_MPPT) and the Soft Computing Methods with Artificial intelligence (ANN_MPPT, FLC_MPPT, ANFIS_MPPT, FL_GA_MPPT) and with the Bio Inspired methods (PSO) and (ACO) from the literature. The obtained results show that the proposed ACO_NPU MPPT controller gives the best performances under variables atmospheric conditions. In addition, it can easily track the global maximum power point (GMPP) under partial shading conditions.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"xia-bozchalooi-youceftoumi-inducedvibrationcontactdetectionforminimizingcantilevertipsampleinteractionforcesinjumpingmodeatomicforcemicroscopy-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/7963591\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'xia-bozchalooi-youceftoumi-inducedvibrationcontactdetectionforminimizingcantilevertipsampleinteractionforcesinjumpingmodeatomicforcemicroscopy-2017', 'https://ieeexplore.ieee.org/document/7963591', event);\">\n    Induced Vibration Contact Detection for Minimizing Cantilever Tip-Sample Interaction Forces in Jumping Mode Atomic Force Microscopy.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Xia, F.; Bozchalooi, I. S.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2017 American Control Conference (ACC)</i>, pages 4141–4146,  2017. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/7963591\"\n     onclick=\"log_download('xia-bozchalooi-youceftoumi-inducedvibrationcontactdetectionforminimizingcantilevertipsampleinteractionforcesinjumpingmodeatomicforcemicroscopy-2017', 'https://ieeexplore.ieee.org/document/7963591', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Induced Vibration Contact Detection for Minimizing Cantilever Tip-Sample Interaction Forces in Jumping Mode Atomic Force Microscopy [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.23919/ACC.2017.7963591\"\n     onclick=\"log_download('xia-bozchalooi-youceftoumi-inducedvibrationcontactdetectionforminimizingcantilevertipsampleinteractionforcesinjumpingmodeatomicforcemicroscopy-2017', 'http://doi.org/10.23919/ACC.2017.7963591', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/xia-bozchalooi-youceftoumi-inducedvibrationcontactdetectionforminimizingcantilevertipsampleinteractionforcesinjumpingmodeatomicforcemicroscopy-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('xia-bozchalooi-youceftoumi-inducedvibrationcontactdetectionforminimizingcantilevertipsampleinteractionforcesinjumpingmodeatomicforcemicroscopy-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_IVCD,\r\ntitle = {Induced Vibration Contact Detection for Minimizing Cantilever Tip-Sample Interaction Forces in Jumping Mode Atomic Force Microscopy},\r\nauthor = {Fangzhou Xia and Iman Soltani Bozchalooi and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/7963591},\r\ndoi = {10.23919/ACC.2017.7963591},\r\nisbn = {978-1-5090-5992-8},\r\nyear  = {2017},\r\ndate = {2017-07-03},\r\nbooktitle = {2017 American Control Conference (ACC)},\r\npages = {4141--4146},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Control Theory, Experimentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mekid-wu-hussain-youceftoumi-channelmodelingandtestingofwirelesstransmissionforundergroundinpipeleakandmateriallossdetection-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1177/1550147717744715\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'mekid-wu-hussain-youceftoumi-channelmodelingandtestingofwirelesstransmissionforundergroundinpipeleakandmateriallossdetection-2017', 'https://doi.org/10.1177/1550147717744715', event);\">\n    Channel modeling and testing of wireless transmission for underground in-pipe leak and material loss detection.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Mekid, S; Wu, D; Hussain, R;  and Youcef-Toumi, K\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Distributed Sensor Networks</i>, 13(11): 1550147717744715.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1177/1550147717744715\"\n     onclick=\"log_download('mekid-wu-hussain-youceftoumi-channelmodelingandtestingofwirelesstransmissionforundergroundinpipeleakandmateriallossdetection-2017', 'https://doi.org/10.1177/1550147717744715', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Channel modeling and testing of wireless transmission for underground in-pipe leak and material loss detection [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1177/1550147717744715\"\n     onclick=\"log_download('mekid-wu-hussain-youceftoumi-channelmodelingandtestingofwirelesstransmissionforundergroundinpipeleakandmateriallossdetection-2017', 'http://doi.org/10.1177/1550147717744715', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mekid-wu-hussain-youceftoumi-channelmodelingandtestingofwirelesstransmissionforundergroundinpipeleakandmateriallossdetection-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mekid-wu-hussain-youceftoumi-channelmodelingandtestingofwirelesstransmissionforundergroundinpipeleakandmateriallossdetection-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Channel_Modeling,\r\ntitle = {Channel modeling and testing of wireless transmission for underground in-pipe leak and material loss detection},\r\nauthor = {S Mekid and D Wu and R Hussain and K Youcef-Toumi},\r\nurl = {https://doi.org/10.1177/1550147717744715},\r\ndoi = {10.1177/1550147717744715},\r\nissn = {1550147717744715},\r\nyear  = {2017},\r\ndate = {2017-01-01},\r\njournal = {International Journal of Distributed Sensor Networks},\r\nvolume = {13},\r\nnumber = {11},\r\npages = {1550147717744715},\r\npublisher = {Sage},\r\nabstract = {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.},\r\nkeywords = {Fabrication, Inspection, Inspection; repair and intelligence for water distribution pipes, Instrumentation, Mechatronic Design, Nanotechnology, Physical System Modeling},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2016\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2016')\"\n      onkeypress=\"toggleGroup('group_2016')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2016</span>\n      <span class=\"bibbase_group_count\">\n        \n        (5)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"elmokadem-zribi-youceftoumi-terminalslidingmodecontrolforthetrajectorytrackingofunderactuatedautonomousunderwatervehicles-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0029801816304759\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'elmokadem-zribi-youceftoumi-terminalslidingmodecontrolforthetrajectorytrackingofunderactuatedautonomousunderwatervehicles-2016', 'https://www.sciencedirect.com/science/article/pii/S0029801816304759', event);\">\n    Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Elmokadem, T.; Zribi, M.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Ocean Engineering</i>, 129: 613-625.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0029801816304759\"\n     onclick=\"log_download('elmokadem-zribi-youceftoumi-terminalslidingmodecontrolforthetrajectorytrackingofunderactuatedautonomousunderwatervehicles-2016', 'https://www.sciencedirect.com/science/article/pii/S0029801816304759', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.oceaneng.2016.10.032\"\n     onclick=\"log_download('elmokadem-zribi-youceftoumi-terminalslidingmodecontrolforthetrajectorytrackingofunderactuatedautonomousunderwatervehicles-2016', 'http://doi.org/https://doi.org/10.1016/j.oceaneng.2016.10.032', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/elmokadem-zribi-youceftoumi-terminalslidingmodecontrolforthetrajectorytrackingofunderactuatedautonomousunderwatervehicles-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('elmokadem-zribi-youceftoumi-terminalslidingmodecontrolforthetrajectorytrackingofunderactuatedautonomousunderwatervehicles-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Terminal_Trajectory_Tracking,\r\ntitle = {Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles},\r\nauthor = {Taha Elmokadem and Mohamed Zribi and Kamal Youcef-Toumi},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S0029801816304759},\r\ndoi = {https://doi.org/10.1016/j.oceaneng.2016.10.032},\r\nissn = {0029-8018},\r\nyear  = {2016},\r\ndate = {2016-11-06},\r\njournal = {Ocean Engineering},\r\nvolume = {129},\r\npages = {613-625},\r\npublisher = {elsevier},\r\nabstract = {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.},\r\nkeywords = {Computer vision for autonomous vehicle sensing, Instrumentation, Mechatronic Design, Physical System Modeling, Robotics &amp;amp; Automation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jiang-muzhikyan-farid-youceftoumi-demandsidemanagementinpowergridenterprisecontrolacomparisonofindustrialsocialwelfareapproaches-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0306261916315410\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jiang-muzhikyan-farid-youceftoumi-demandsidemanagementinpowergridenterprisecontrolacomparisonofindustrialsocialwelfareapproaches-2016', 'https://www.sciencedirect.com/science/article/pii/S0306261916315410', event);\">\n    Demand side management in power grid enterprise control: A comparison of industrial & social welfare approaches.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jiang, B.; Muzhikyan, A.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Applied Energy</i>, 187: 833-846.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0306261916315410\"\n     onclick=\"log_download('jiang-muzhikyan-farid-youceftoumi-demandsidemanagementinpowergridenterprisecontrolacomparisonofindustrialsocialwelfareapproaches-2016', 'https://www.sciencedirect.com/science/article/pii/S0306261916315410', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Demand side management in power grid enterprise control: A comparison of industrial &amp; social welfare approaches [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.apenergy.2016.10.096\"\n     onclick=\"log_download('jiang-muzhikyan-farid-youceftoumi-demandsidemanagementinpowergridenterprisecontrolacomparisonofindustrialsocialwelfareapproaches-2016', 'http://doi.org/https://doi.org/10.1016/j.apenergy.2016.10.096', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jiang-muzhikyan-farid-youceftoumi-demandsidemanagementinpowergridenterprisecontrolacomparisonofindustrialsocialwelfareapproaches-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jiang-muzhikyan-farid-youceftoumi-demandsidemanagementinpowergridenterprisecontrolacomparisonofindustrialsocialwelfareapproaches-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Comparison_Industrial_Social_Welfare,\r\ntitle = {Demand side management in power grid enterprise control: A comparison of industrial &amp; social welfare approaches},\r\nauthor = {Bo Jiang and Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S0306261916315410},\r\ndoi = {https://doi.org/10.1016/j.apenergy.2016.10.096},\r\nissn = {0306-2619},\r\nyear  = {2016},\r\ndate = {2016-10-25},\r\njournal = {Applied Energy},\r\nvolume = {187},\r\npages = {833-846},\r\npublisher = {ScienceDirect},\r\nabstract = {Despite the recognized importance of demand side management (DSM) for mitigating the impact of variable energy resources and reducing the system costs, the academic and industrial literature have taken divergent approaches to DSM implementation. The prequel to this paper has demonstrated that the netload baseline inflation – a feature particular to the industrial DSM unit commitment formulation – leads to higher and costlier day-ahead scheduling compared to the academic social welfare method. This paper now expands this analysis from a single optimization problem to the full power grid enterprise control with its multiple control layers at their associated time scales. These include unit commitment, economic dispatch and regulation services. It compares the two DSM formulations and quantifies the technical and economic impacts of industrial baseline errors in the day-ahead and real-time markets. The paper concludes that the presence of baseline errors – present only in the industrial model – leads to a cascade of additional system imbalances and costs as compared to the social welfare model. A baseline error introduced in the unit commitment problem will increase costs not just in the day-ahead market, but will also introduce a greater netload error residual in the real-time market causing additional cost and imbalances. These imbalances if left unmitigated degrade system reliability or otherwise require costly regulating reserves to achieve the same performance. An additional baseline error introduced in the economic dispatch further compounds this cascading effect with additional costs in the real-time market, amplified downstream imbalances, and further regulation capacity for its mitigation.},\r\nkeywords = {Algorithms, Control Theory, Experimentation, Robot operated modular fixtures, Robotics &amp;amp; Automation, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Despite the recognized importance of demand side management (DSM) for mitigating the impact of variable energy resources and reducing the system costs, the academic and industrial literature have taken divergent approaches to DSM implementation. The prequel to this paper has demonstrated that the netload baseline inflation – a feature particular to the industrial DSM unit commitment formulation – leads to higher and costlier day-ahead scheduling compared to the academic social welfare method. This paper now expands this analysis from a single optimization problem to the full power grid enterprise control with its multiple control layers at their associated time scales. These include unit commitment, economic dispatch and regulation services. It compares the two DSM formulations and quantifies the technical and economic impacts of industrial baseline errors in the day-ahead and real-time markets. The paper concludes that the presence of baseline errors – present only in the industrial model – leads to a cascade of additional system imbalances and costs as compared to the social welfare model. A baseline error introduced in the unit commitment problem will increase costs not just in the day-ahead market, but will also introduce a greater netload error residual in the real-time market causing additional cost and imbalances. These imbalances if left unmitigated degrade system reliability or otherwise require costly regulating reserves to achieve the same performance. An additional baseline error introduced in the economic dispatch further compounds this cascading effect with additional costs in the real-time market, amplified downstream imbalances, and further regulation capacity for its mitigation.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"yilbas-ali-alaqeeli-khaled-said-n-merah-youceftoumi-etal-characterizationofenvironmentaldustinthedammamareaandmudaftereffectsonbisphenolapolycarbonatesheets-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Characterization of Environmental Dust in the Dammam Area and Mud After-Effects on Bisphenol-A Polycarbonate Sheets.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yilbas, B.; Ali, H.; Al-Aqeeli, N.; Khaled, M.; Said, S.; N, A. D.; Merah, N.; Youcef-Toumi, K.;  and Varanasi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Scientific Reports</i>, 6: 24308.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1038/srep24308\"\n     onclick=\"log_download('yilbas-ali-alaqeeli-khaled-said-n-merah-youceftoumi-etal-characterizationofenvironmentaldustinthedammamareaandmudaftereffectsonbisphenolapolycarbonatesheets-2016', 'http://doi.org/10.1038/srep24308', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yilbas-ali-alaqeeli-khaled-said-n-merah-youceftoumi-etal-characterizationofenvironmentaldustinthedammamareaandmudaftereffectsonbisphenolapolycarbonatesheets-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yilbas-ali-alaqeeli-khaled-said-n-merah-youceftoumi-etal-characterizationofenvironmentaldustinthedammamareaandmudaftereffectsonbisphenolapolycarbonatesheets-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Environmental_Dust,\r\ntitle = {Characterization of Environmental Dust in the Dammam Area and Mud After-Effects on Bisphenol-A Polycarbonate Sheets},\r\nauthor = {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},\r\ndoi = {10.1038/srep24308},\r\nissn = {24308},\r\nyear  = {2016},\r\ndate = {2016-04-16},\r\njournal = {Scientific Reports},\r\nvolume = {6},\r\npages = {24308},\r\npublisher = {Nature},\r\nabstract = {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.},\r\nkeywords = {Data-driven learning for intelligent machine maintenance, Mechatronic Design, Physical System Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bozchalooi-houck-alghamdi-youceftoumi-designandcontrolofmultiactuatedatomicforcemicroscopeforlargerangeandhighspeedimaging-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bozchalooi-houck-alghamdi-youceftoumi-designandcontrolofmultiactuatedatomicforcemicroscopeforlargerangeandhighspeedimaging-2016', 'http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c', event);\">\n    Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bozchalooi, I. S.; Houck, A. C.; AlGhamdi, J. M.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  , 160: 213 - 224.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c\"\n     onclick=\"log_download('bozchalooi-houck-alghamdi-youceftoumi-designandcontrolofmultiactuatedatomicforcemicroscopeforlargerangeandhighspeedimaging-2016', 'http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.ultramic.2015.10.016\"\n     onclick=\"log_download('bozchalooi-houck-alghamdi-youceftoumi-designandcontrolofmultiactuatedatomicforcemicroscopeforlargerangeandhighspeedimaging-2016', 'http://doi.org/https://doi.org/10.1016/j.ultramic.2015.10.016', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bozchalooi-houck-alghamdi-youceftoumi-designandcontrolofmultiactuatedatomicforcemicroscopeforlargerangeandhighspeedimaging-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bozchalooi-houck-alghamdi-youceftoumi-designandcontrolofmultiactuatedatomicforcemicroscopeforlargerangeandhighspeedimaging-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_LRHS_imaging,\r\ntitle = {Design and control of multi-actuated atomic force microscope for large-range and high-speed imaging},\r\nauthor = {Iman Soltani Bozchalooi and Andrew Careaga Houck and Jwaher M. AlGhamdi and Kamal Youcef-Toumi},\r\nurl = {http://www.sciencedirect.com/science/article/pii/S0304399115300528 https://www.youtube.com/watch?v=PQ-zE6wA61c},\r\ndoi = {https://doi.org/10.1016/j.ultramic.2015.10.016},\r\nissn = {0304-3991},\r\nyear  = {2016},\r\ndate = {2016-01-01},\r\nvolume = {160},\r\npages = {213 - 224},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Experimentation, Fabrication, Instrumentation, Mechatronic Design, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"muzhikyan-farid-youceftoumi-relativemeritsofloadfollowingreservesenergystoragemarketintegrationtowardspowersystemimbalances-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0142061515002999\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'muzhikyan-farid-youceftoumi-relativemeritsofloadfollowingreservesenergystoragemarketintegrationtowardspowersystemimbalances-2016', 'https://www.sciencedirect.com/science/article/pii/S0142061515002999', event);\">\n    Relative merits of load following reserves & energy storage market integration towards power system imbalances.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Muzhikyan, A.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Electrical Power & Energy Systems</i>, 74: 222-229.  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0142061515002999\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-relativemeritsofloadfollowingreservesenergystoragemarketintegrationtowardspowersystemimbalances-2016', 'https://www.sciencedirect.com/science/article/pii/S0142061515002999', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Relative merits of load following reserves &amp; energy storage market integration towards power system imbalances [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.ijepes.2015.07.013\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-relativemeritsofloadfollowingreservesenergystoragemarketintegrationtowardspowersystemimbalances-2016', 'http://doi.org/https://doi.org/10.1016/j.ijepes.2015.07.013', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/muzhikyan-farid-youceftoumi-relativemeritsofloadfollowingreservesenergystoragemarketintegrationtowardspowersystemimbalances-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('muzhikyan-farid-youceftoumi-relativemeritsofloadfollowingreservesenergystoragemarketintegrationtowardspowersystemimbalances-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_Market_Integration_Power_System,\r\ntitle = {Relative merits of load following reserves &amp; energy storage market integration towards power system imbalances},\r\nauthor = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S0142061515002999},\r\ndoi = {https://doi.org/10.1016/j.ijepes.2015.07.013},\r\nissn = {0142-0615},\r\nyear  = {2016},\r\ndate = {2016-01-01},\r\njournal = {International Journal of Electrical Power &amp; Energy Systems},\r\nvolume = {74},\r\npages = {222-229},\r\npublisher = {ScienceDirect},\r\nabstract = {Traditionally, power system balancing operations consist of three consecutive control techniques, namely security-constrained unit commitment (SCUC), security-constrained economic dispatch (SCED), and automatic generation control (AGC). Each of these have their corresponding type of operating reserves. Similarly, energy storage resources (ESRs) may be integrated as energy, load following, or regulation resources. A review of the existing literature shows that most ESR integration studies are focused on a single control function. In contrast, recent work on renewable energy integration has employed the concept of enterprise control where the multiple layers of balancing operations have been integrated into a single model. This paper now uses such an enterprise control model to demonstrate the relative merits of load following reserves and energy storage integrated into the resource scheduling and balancing action layers. The results show that load following reserves and energy storage resources mitigate imbalances in fundamentally different ways. The latter becomes an increasingly effective balancing resource for high net-load variability and small day-ahead market time step.},\r\nkeywords = {Control Theory, intelligent systems, Modeling; sizing and control for smart grids, Visualization},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Traditionally, power system balancing operations consist of three consecutive control techniques, namely security-constrained unit commitment (SCUC), security-constrained economic dispatch (SCED), and automatic generation control (AGC). Each of these have their corresponding type of operating reserves. Similarly, energy storage resources (ESRs) may be integrated as energy, load following, or regulation resources. A review of the existing literature shows that most ESR integration studies are focused on a single control function. In contrast, recent work on renewable energy integration has employed the concept of enterprise control where the multiple layers of balancing operations have been integrated into a single model. This paper now uses such an enterprise control model to demonstrate the relative merits of load following reserves and energy storage integrated into the resource scheduling and balancing action layers. The results show that load following reserves and energy storage resources mitigate imbalances in fundamentally different ways. The latter becomes an increasingly effective balancing resource for high net-load variability and small day-ahead market time step.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2015\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2015')\"\n      onkeypress=\"toggleGroup('group_2015')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2015</span>\n      <span class=\"bibbase_group_count\">\n        \n        (11)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"wu-noel-kim-youceftoumi-benmansour-designofamaneuverableswimmingrobotforinpipemissions-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/7354061\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wu-noel-kim-youceftoumi-benmansour-designofamaneuverableswimmingrobotforinpipemissions-2015', 'https://ieeexplore.ieee.org/document/7354061', event);\">\n    Design of a maneuverable swimming robot for in-pipe missions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wu, Y.; Noel, A.; Kim, D. D.; Youcef-Toumi, K.;  and Ben-Mansour, R.\n</span>\n\n  \n\n</span>\n\n  In <i>2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 4864-4871,  2015. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/7354061\"\n     onclick=\"log_download('wu-noel-kim-youceftoumi-benmansour-designofamaneuverableswimmingrobotforinpipemissions-2015', 'https://ieeexplore.ieee.org/document/7354061', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design of a maneuverable swimming robot for in-pipe missions [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IROS.2015.7354061\"\n     onclick=\"log_download('wu-noel-kim-youceftoumi-benmansour-designofamaneuverableswimmingrobotforinpipemissions-2015', 'http://doi.org/10.1109/IROS.2015.7354061', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wu-noel-kim-youceftoumi-benmansour-designofamaneuverableswimmingrobotforinpipemissions-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wu-noel-kim-youceftoumi-benmansour-designofamaneuverableswimmingrobotforinpipemissions-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_In_Pipe_Missions,\r\ntitle = {Design of a maneuverable swimming robot for in-pipe missions},\r\nauthor = {You Wu and Antoine Noel and David Donghyun Kim and Kamal Youcef-Toumi and Rached Ben-Mansour},\r\nurl = {https://ieeexplore.ieee.org/document/7354061},\r\ndoi = {10.1109/IROS.2015.7354061},\r\nisbn = {978-1-4799-9994-1},\r\nyear  = {2015},\r\ndate = {2015-12-17},\r\nbooktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\r\npages = {4864-4871},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Experimentation, Inspection; repair and intelligence for water distribution pipes, intelligent systems, Physical System Modeling, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"farid-jiang-muzhikyan-youceftoumi-theneedforholisticenterprisecontrolassessmentmethodsforthefutureelectricitygrid-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S1364032115012599\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'farid-jiang-muzhikyan-youceftoumi-theneedforholisticenterprisecontrolassessmentmethodsforthefutureelectricitygrid-2015', 'https://www.sciencedirect.com/science/article/pii/S1364032115012599', event);\">\n    The need for holistic enterprise control assessment methods for the future electricity grid.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Farid, A. M; Jiang, B.; Muzhikyan, A.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Renewable and Sustainable Energy Reviews</i>, 56: 669-685.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S1364032115012599\"\n     onclick=\"log_download('farid-jiang-muzhikyan-youceftoumi-theneedforholisticenterprisecontrolassessmentmethodsforthefutureelectricitygrid-2015', 'https://www.sciencedirect.com/science/article/pii/S1364032115012599', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The need for holistic enterprise control assessment methods for the future electricity grid [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.rser.2015.11.007\"\n     onclick=\"log_download('farid-jiang-muzhikyan-youceftoumi-theneedforholisticenterprisecontrolassessmentmethodsforthefutureelectricitygrid-2015', 'http://doi.org/https://doi.org/10.1016/j.rser.2015.11.007', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/farid-jiang-muzhikyan-youceftoumi-theneedforholisticenterprisecontrolassessmentmethodsforthefutureelectricitygrid-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('farid-jiang-muzhikyan-youceftoumi-theneedforholisticenterprisecontrolassessmentmethodsforthefutureelectricitygrid-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Holistic_Assessment_Electricity_Grid,\r\ntitle = {The need for holistic enterprise control assessment methods for the future electricity grid},\r\nauthor = {Amro M Farid and Bo Jiang and Aramazd Muzhikyan and Kamal Youcef-Toumi},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S1364032115012599},\r\ndoi = {https://doi.org/10.1016/j.rser.2015.11.007},\r\nissn = {1364-0321},\r\nyear  = {2015},\r\ndate = {2015-12-17},\r\njournal = {Renewable and Sustainable Energy Reviews},\r\nvolume = {56},\r\npages = {669-685},\r\npublisher = {elsevier},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"owais-khaled-yilbas-abudheir-varanasi-toumi-surfaceandwettingcharacteristicsoftexturedbisphenolabasedpolycarbonatesurfacesacetoneinducedcrystallizationtexturingmethods-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://onlinelibrary.wiley.com/doi/abs/10.1002/app.43074\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'owais-khaled-yilbas-abudheir-varanasi-toumi-surfaceandwettingcharacteristicsoftexturedbisphenolabasedpolycarbonatesurfacesacetoneinducedcrystallizationtexturingmethods-2015', 'https://onlinelibrary.wiley.com/doi/abs/10.1002/app.43074', event);\">\n    Surface and wetting characteristics of textured bisphenol-A based polycarbonate surfaces: Acetone-induced crystallization texturing methods.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Owais, A.; Khaled, M. M; Yilbas, B. S; Abu-Dheir, N.; Varanasi, K. K;  and Toumi, K. Y\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Applied Polymer Science</i>, 133(14).  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://onlinelibrary.wiley.com/doi/abs/10.1002/app.43074\"\n     onclick=\"log_download('owais-khaled-yilbas-abudheir-varanasi-toumi-surfaceandwettingcharacteristicsoftexturedbisphenolabasedpolycarbonatesurfacesacetoneinducedcrystallizationtexturingmethods-2015', 'https://onlinelibrary.wiley.com/doi/abs/10.1002/app.43074', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Surface and wetting characteristics of textured bisphenol-A based polycarbonate surfaces: Acetone-induced crystallization texturing methods [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1002/app.43074\"\n     onclick=\"log_download('owais-khaled-yilbas-abudheir-varanasi-toumi-surfaceandwettingcharacteristicsoftexturedbisphenolabasedpolycarbonatesurfacesacetoneinducedcrystallizationtexturingmethods-2015', 'http://doi.org/https://doi.org/10.1002/app.43074', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/owais-khaled-yilbas-abudheir-varanasi-toumi-surfaceandwettingcharacteristicsoftexturedbisphenolabasedpolycarbonatesurfacesacetoneinducedcrystallizationtexturingmethods-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('owais-khaled-yilbas-abudheir-varanasi-toumi-surfaceandwettingcharacteristicsoftexturedbisphenolabasedpolycarbonatesurfacesacetoneinducedcrystallizationtexturingmethods-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Surface_Wetting_Poly_Surfaces,\r\ntitle = {Surface and wetting characteristics of textured bisphenol-A based polycarbonate surfaces: Acetone-induced crystallization texturing methods},\r\nauthor = {Ahmed Owais and Mazen M Khaled and Bekir S Yilbas and Numan Abu-Dheir and Kripa K Varanasi and Kamal Y Toumi},\r\nurl = {https://onlinelibrary.wiley.com/doi/abs/10.1002/app.43074},\r\ndoi = {https://doi.org/10.1002/app.43074},\r\nissn = {43074},\r\nyear  = {2015},\r\ndate = {2015-11-12},\r\njournal = {Journal of Applied Polymer Science},\r\nvolume = {133},\r\nnumber = {14},\r\npublisher = {Wiley},\r\nabstract = {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 &lt;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.},\r\nkeywords = {Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jiang-farid-youceftoumi-impactsofindustrialbaselineerrorsoncostsandsocialwelfareinthedemandsidemanagementofdayaheadwholesalemarkets-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/ES/proceedings/ES2015/56857/V002T12A003/230063\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jiang-farid-youceftoumi-impactsofindustrialbaselineerrorsoncostsandsocialwelfareinthedemandsidemanagementofdayaheadwholesalemarkets-2015', 'https://asmedigitalcollection.asme.org/ES/proceedings/ES2015/56857/V002T12A003/230063', event);\">\n    Impacts of Industrial Baseline Errors on Costs and Social Welfare in the Demand Side Management of Day-Ahead Wholesale Markets.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jiang, B.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>ASME 2015 13th International Conference on Fuel Cell Science, Engineering and Technology, and the ASME 2015 Nuclear Forum</i>, volume 15, pages 7390-7395,  2015. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/ES/proceedings/ES2015/56857/V002T12A003/230063\"\n     onclick=\"log_download('jiang-farid-youceftoumi-impactsofindustrialbaselineerrorsoncostsandsocialwelfareinthedemandsidemanagementofdayaheadwholesalemarkets-2015', 'https://asmedigitalcollection.asme.org/ES/proceedings/ES2015/56857/V002T12A003/230063', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Impacts of Industrial Baseline Errors on Costs and Social Welfare in the Demand Side Management of Day-Ahead Wholesale Markets [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1115/ES2015-49459\"\n     onclick=\"log_download('jiang-farid-youceftoumi-impactsofindustrialbaselineerrorsoncostsandsocialwelfareinthedemandsidemanagementofdayaheadwholesalemarkets-2015', 'http://doi.org/https://doi.org/10.1115/ES2015-49459', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jiang-farid-youceftoumi-impactsofindustrialbaselineerrorsoncostsandsocialwelfareinthedemandsidemanagementofdayaheadwholesalemarkets-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jiang-farid-youceftoumi-impactsofindustrialbaselineerrorsoncostsandsocialwelfareinthedemandsidemanagementofdayaheadwholesalemarkets-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Pipe_Leak_Repair,\r\ntitle = {Impacts of Industrial Baseline Errors on Costs and Social Welfare in the Demand Side Management of Day-Ahead Wholesale Markets},\r\nauthor = {Bo Jiang and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://asmedigitalcollection.asme.org/ES/proceedings/ES2015/56857/V002T12A003/230063},\r\ndoi = {https://doi.org/10.1115/ES2015-49459},\r\nissn = {1558-3783},\r\nyear  = {2015},\r\ndate = {2015-10-27},\r\nbooktitle = {ASME 2015 13th International Conference on Fuel Cell Science, Engineering and Technology, and the ASME 2015 Nuclear Forum},\r\njournal = {IEEE Transactions on Automation Science and Engineering},\r\nvolume = {15},\r\nnumber = {4},\r\npages = {7390-7395},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {Demand Side Management (DSM},\r\nkeywords = {Control Theory, Experimentation, Nanotechnology, Physical System Modeling, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Demand Side Management (DSM\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jiang-farid-youceftoumi-acomparisonofdayaheadwholesalemarketsocialwelfarevsindustrialdemandsidemanagement-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/abstract/document/7125502?section=abstract\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jiang-farid-youceftoumi-acomparisonofdayaheadwholesalemarketsocialwelfarevsindustrialdemandsidemanagement-2015', 'https://ieeexplore.ieee.org/abstract/document/7125502?section=abstract', event);\">\n    A comparison of day-ahead wholesale market: Social welfare vs industrial demand side management.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jiang, B.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2015 IEEE International Conference on Industrial Technology (ICIT)</i>, pages 2742-2749,  2015. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/abstract/document/7125502?section=abstract\"\n     onclick=\"log_download('jiang-farid-youceftoumi-acomparisonofdayaheadwholesalemarketsocialwelfarevsindustrialdemandsidemanagement-2015', 'https://ieeexplore.ieee.org/abstract/document/7125502?section=abstract', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A comparison of day-ahead wholesale market: Social welfare vs industrial demand side management [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICIT.2015.7125502\"\n     onclick=\"log_download('jiang-farid-youceftoumi-acomparisonofdayaheadwholesalemarketsocialwelfarevsindustrialdemandsidemanagement-2015', 'http://doi.org/10.1109/ICIT.2015.7125502', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jiang-farid-youceftoumi-acomparisonofdayaheadwholesalemarketsocialwelfarevsindustrialdemandsidemanagement-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jiang-farid-youceftoumi-acomparisonofdayaheadwholesalemarketsocialwelfarevsindustrialdemandsidemanagement-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_UEC_Welfare_vs_DSM,\r\ntitle = {A comparison of day-ahead wholesale market: Social welfare vs industrial demand side management},\r\nauthor = {Bo Jiang and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/abstract/document/7125502?section=abstract},\r\ndoi = {10.1109/ICIT.2015.7125502},\r\nisbn = {978-1-4799-7800-7},\r\nyear  = {2015},\r\ndate = {2015-06-18},\r\nbooktitle = {2015 IEEE International Conference on Industrial Technology (ICIT)},\r\npages = {2742-2749},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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 &amp; 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.},\r\nkeywords = {Algorithms, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"schuh-bozchalooi-rangelow-youceftoumi-multieigenmodecontrolforhighmaterialcontrastinbimodalandhigherharmonicatomicforcemicroscopy-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1088/0957-4484/26/23/235706\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'schuh-bozchalooi-rangelow-youceftoumi-multieigenmodecontrolforhighmaterialcontrastinbimodalandhigherharmonicatomicforcemicroscopy-2015', 'https://doi.org/10.1088/0957-4484/26/23/235706', event);\">\n    Multi-eigenmode control for high material contrast in bimodal and higher harmonic atomic force microscopy.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Schuh, A.; Bozchalooi, I. S.; Rangelow, I. W;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Nanotechnology</i>, 26(23): 235706.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1088/0957-4484/26/23/235706\"\n     onclick=\"log_download('schuh-bozchalooi-rangelow-youceftoumi-multieigenmodecontrolforhighmaterialcontrastinbimodalandhigherharmonicatomicforcemicroscopy-2015', 'https://doi.org/10.1088/0957-4484/26/23/235706', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multi-eigenmode control for high material contrast in bimodal and higher harmonic atomic force microscopy [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1088/0957-4484/26/23/235706\"\n     onclick=\"log_download('schuh-bozchalooi-rangelow-youceftoumi-multieigenmodecontrolforhighmaterialcontrastinbimodalandhigherharmonicatomicforcemicroscopy-2015', 'http://doi.org/10.1088/0957-4484/26/23/235706', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schuh-bozchalooi-rangelow-youceftoumi-multieigenmodecontrolforhighmaterialcontrastinbimodalandhigherharmonicatomicforcemicroscopy-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schuh-bozchalooi-rangelow-youceftoumi-multieigenmodecontrolforhighmaterialcontrastinbimodalandhigherharmonicatomicforcemicroscopy-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_Multi_Eigenmode,\r\ntitle = {Multi-eigenmode control for high material contrast in bimodal and higher harmonic atomic force microscopy},\r\nauthor = {Andreas Schuh and Iman Soltani Bozchalooi and Ivo W Rangelow and Kamal Youcef-Toumi},\r\nurl = {https://doi.org/10.1088/0957-4484/26/23/235706},\r\ndoi = {10.1088/0957-4484/26/23/235706},\r\nyear  = {2015},\r\ndate = {2015-05-01},\r\njournal = {Nanotechnology},\r\nvolume = {26},\r\nnumber = {23},\r\npages = {235706},\r\npublisher = {IOP Publishing},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nia-han-soltani-roughley-youceftoumi-grodzinsky-ortiz-aggrecannanoscalesolidfluidinteractionsareaprimarydeterminantofcartilagedynamicmechanicalproperties-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Aggrecan Nanoscale Solid–Fluid Interactions Are a Primary Determinant of Cartilage Dynamic Mechanical Properties.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nia, H.; Han, L.; Soltani, I.; Roughley, P.; Youcef-Toumi, K.; Grodzinsky, A.;  and Ortiz, C.\n</span>\n\n  \n\n</span>\n\n  <i>ACS nano</i>, 9.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1021/nn5062707\"\n     onclick=\"log_download('nia-han-soltani-roughley-youceftoumi-grodzinsky-ortiz-aggrecannanoscalesolidfluidinteractionsareaprimarydeterminantofcartilagedynamicmechanicalproperties-2015', 'http://doi.org/10.1021/nn5062707', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nia-han-soltani-roughley-youceftoumi-grodzinsky-ortiz-aggrecannanoscalesolidfluidinteractionsareaprimarydeterminantofcartilagedynamicmechanicalproperties-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nia-han-soltani-roughley-youceftoumi-grodzinsky-ortiz-aggrecannanoscalesolidfluidinteractionsareaprimarydeterminantofcartilagedynamicmechanicalproperties-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Agreecan_Nanoscale_Solid,\r\ntitle = {Aggrecan Nanoscale Solid–Fluid Interactions Are a Primary Determinant of Cartilage Dynamic Mechanical Properties},\r\nauthor = {Hadi Nia and Lin Han and Iman Soltani and Peter Roughley and Kamal Youcef-Toumi and Alan Grodzinsky and Christine Ortiz},\r\ndoi = {10.1021/nn5062707},\r\nissn = {2614-2625},\r\nyear  = {2015},\r\ndate = {2015-03-10},\r\njournal = {ACS nano},\r\nvolume = {9},\r\npublisher = {ACS},\r\nabstract = {Poroelastic interactions between interstitial fluid and the extracellular \r\nmatrix of connective tissues are critical to biological and pathophysiological functions \r\ninvolving solute transport, energy dissipation, self-stiffening and lubrication. However, \r\nthe molecular origins of poroelasticity at the nanoscale are largely unknown. Here, the \r\nbroad-spectrum dynamic nanomechanical behavior of cartilage aggrecan monolayer is \r\nrevealed for the first time, including the equilibrium and instantaneous moduli and the \r\npeak in the phase angle of the complex modulus. By performing a length scale study \r\nand comparing the experimental results to theoretical predictions, we confirm that the \r\nmechanism underlying the observed dynamic nanomechanics is due to solid\u0001fluid \r\ninteractions (poroelasticity) at the molecular scale. Utilizing finite element modeling, the molecular-scale hydraulic permeability of the aggrecan assembly was quantified (kaggrecan = (4.8 ( 2.8) 10\u000115 m4 \r\n/N 3 s) and found to be similar to the nanoscale hydraulic permeability of intact normal cartilage tissue \r\nbut much lower than that of early diseased tissue. The mechanisms underlying aggrecan poroelasticity were further investigated by altering electrostatic \r\ninteractions between the molecule&#x27;s constituent glycosaminoglycan chains: electrostatic interactions dominated steric interactions in governing molecular \r\nbehavior. While the hydraulic permeability of aggrecan layers does not change across species and age, aggrecan from adult human cartilage is stiffer than \r\nthe aggrecan from newborn human tissue.},\r\nkeywords = {Experimentation, Fabrication, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Poroelastic interactions between interstitial fluid and the extracellular matrix of connective tissues are critical to biological and pathophysiological functions involving solute transport, energy dissipation, self-stiffening and lubrication. However, the molecular origins of poroelasticity at the nanoscale are largely unknown. Here, the broad-spectrum dynamic nanomechanical behavior of cartilage aggrecan monolayer is revealed for the first time, including the equilibrium and instantaneous moduli and the peak in the phase angle of the complex modulus. By performing a length scale study and comparing the experimental results to theoretical predictions, we confirm that the mechanism underlying the observed dynamic nanomechanics is due to solid\u0001fluid interactions (poroelasticity) at the molecular scale. Utilizing finite element modeling, the molecular-scale hydraulic permeability of the aggrecan assembly was quantified (kaggrecan = (4.8 ( 2.8) 10\u000115 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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"titri-larbes-youceftoumi-rapidprototypingofpvsintofpgafrommodelbaseddesigntofpgaasicsimplementation-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/7038606\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'titri-larbes-youceftoumi-rapidprototypingofpvsintofpgafrommodelbaseddesigntofpgaasicsimplementation-2015', 'https://ieeexplore.ieee.org/document/7038606', event);\">\n    Rapid prototyping of PVS into FPGA: From model based design to FPGA/ASICs implementation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Titri, S.; Larbes, C.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 9th International Design and Test Symposium (IDT)</i>, pages 162-167,  2015. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/7038606\"\n     onclick=\"log_download('titri-larbes-youceftoumi-rapidprototypingofpvsintofpgafrommodelbaseddesigntofpgaasicsimplementation-2015', 'https://ieeexplore.ieee.org/document/7038606', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Rapid prototyping of PVS into FPGA: From model based design to FPGA/ASICs implementation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IDT.2014.7038606\"\n     onclick=\"log_download('titri-larbes-youceftoumi-rapidprototypingofpvsintofpgafrommodelbaseddesigntofpgaasicsimplementation-2015', 'http://doi.org/10.1109/IDT.2014.7038606', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/titri-larbes-youceftoumi-rapidprototypingofpvsintofpgafrommodelbaseddesigntofpgaasicsimplementation-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('titri-larbes-youceftoumi-rapidprototypingofpvsintofpgafrommodelbaseddesigntofpgaasicsimplementation-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_PVS_MPPT_Optimization,\r\ntitle = {Rapid prototyping of PVS into FPGA: From model based design to FPGA/ASICs implementation},\r\nauthor = {Sabrina Titri and Cherif Larbes and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/7038606},\r\ndoi = {10.1109/IDT.2014.7038606},\r\nisbn = {978-1-4799-8200-4},\r\nyear  = {2015},\r\ndate = {2015-02-15},\r\nbooktitle = {2014 9th International Design and Test Symposium (IDT)},\r\npages = {162-167},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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&amp;O) MPPT controller. The Matlab/Simulink model of the P&amp;O controller is optimized and converted to target, Hardware Description Language (HDL) code for FPGA/ASIC. The whole architecture of the P&amp;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.},\r\nkeywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"somanath-karaman-youceftoumi-controllingstochasticgrowthprocessesonlatticeswildfiremanagementwithroboticfireextinguishers-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/7039602\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'somanath-karaman-youceftoumi-controllingstochasticgrowthprocessesonlatticeswildfiremanagementwithroboticfireextinguishers-2015', 'https://ieeexplore.ieee.org/document/7039602', event);\">\n    Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Somanath, A.; Karaman, S.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>53rd IEEE Conference on Decision and Control</i>, pages 1432-1437,  2015. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/7039602\"\n     onclick=\"log_download('somanath-karaman-youceftoumi-controllingstochasticgrowthprocessesonlatticeswildfiremanagementwithroboticfireextinguishers-2015', 'https://ieeexplore.ieee.org/document/7039602', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/CDC.2014.7039602\"\n     onclick=\"log_download('somanath-karaman-youceftoumi-controllingstochasticgrowthprocessesonlatticeswildfiremanagementwithroboticfireextinguishers-2015', 'http://doi.org/10.1109/CDC.2014.7039602', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/somanath-karaman-youceftoumi-controllingstochasticgrowthprocessesonlatticeswildfiremanagementwithroboticfireextinguishers-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('somanath-karaman-youceftoumi-controllingstochasticgrowthprocessesonlatticeswildfiremanagementwithroboticfireextinguishers-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AVS_Robotic_Wildfire_Control,\r\ntitle = {Controlling stochastic growth processes on lattices: Wildfire management with robotic fire extinguishers},\r\nauthor = {Amith Somanath and Sertac Karaman and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/7039602},\r\ndoi = {10.1109/CDC.2014.7039602},\r\nisbn = {978-1-4673-6090-6},\r\nyear  = {2015},\r\ndate = {2015-02-15},\r\nbooktitle = {53rd IEEE Conference on Decision and Control},\r\npages = {1432-1437},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Computational Intelligence, Computer vision for autonomous vehicle sensing, intelligent systems, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"muzhikyan-farid-youceftoumi-apowergridenterprisecontrolmethodforenergystoragesystemintegration-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/7028898\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'muzhikyan-farid-youceftoumi-apowergridenterprisecontrolmethodforenergystoragesystemintegration-2015', 'https://ieeexplore.ieee.org/document/7028898', event);\">\n    A power grid enterprise control method for energy storage system integration.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Muzhikyan, A.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE PES Innovative Smart Grid Technologies, Europe</i>, pages 1-6,  2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/7028898\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-apowergridenterprisecontrolmethodforenergystoragesystemintegration-2015', 'https://ieeexplore.ieee.org/document/7028898', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A power grid enterprise control method for energy storage system integration [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ISGTEurope.2014.7028898\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-apowergridenterprisecontrolmethodforenergystoragesystemintegration-2015', 'http://doi.org/10.1109/ISGTEurope.2014.7028898', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/muzhikyan-farid-youceftoumi-apowergridenterprisecontrolmethodforenergystoragesystemintegration-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('muzhikyan-farid-youceftoumi-apowergridenterprisecontrolmethodforenergystoragesystemintegration-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Grid_Enterprise_Control,\r\ntitle = {A power grid enterprise control method for energy storage system integration},\r\nauthor = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/7028898},\r\ndoi = {10.1109/ISGTEurope.2014.7028898},\r\nisbn = {978-1-4799-7720-8},\r\nyear  = {2015},\r\ndate = {2015-02-02},\r\nbooktitle = {IEEE PES Innovative Smart Grid Technologies, Europe},\r\npages = {1-6},\r\nabstract = {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.},\r\nkeywords = {intelligent systems, Modeling; sizing and control of smart grids, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"muzhikyan-farid-youceftoumi-anenterprisecontrolassessmentmethodforvariableenergyresourceinducedpowersystemimbalancespartiiparametricsensitivityanalysis-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/7018074?denied=\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'muzhikyan-farid-youceftoumi-anenterprisecontrolassessmentmethodforvariableenergyresourceinducedpowersystemimbalancespartiiparametricsensitivityanalysis-2015', 'https://ieeexplore.ieee.org/document/7018074?denied=', event);\">\n    An Enterprise Control Assessment Method for Variable Energy Resource-Induced Power System Imbalances—Part II: Parametric Sensitivity Analysis.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Muzhikyan, A; Farid, A M;  and Youcef-Toumi, K\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Industrial Electronics</i>, 62(4): 2459-2467.  2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/7018074?denied=\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-anenterprisecontrolassessmentmethodforvariableenergyresourceinducedpowersystemimbalancespartiiparametricsensitivityanalysis-2015', 'https://ieeexplore.ieee.org/document/7018074?denied=', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Enterprise Control Assessment Method for Variable Energy Resource-Induced Power System Imbalances—Part II: Parametric Sensitivity Analysis [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TIE.2015.2395380\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-anenterprisecontrolassessmentmethodforvariableenergyresourceinducedpowersystemimbalancespartiiparametricsensitivityanalysis-2015', 'http://doi.org/10.1109/TIE.2015.2395380', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/muzhikyan-farid-youceftoumi-anenterprisecontrolassessmentmethodforvariableenergyresourceinducedpowersystemimbalancespartiiparametricsensitivityanalysis-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('muzhikyan-farid-youceftoumi-anenterprisecontrolassessmentmethodforvariableenergyresourceinducedpowersystemimbalancespartiiparametricsensitivityanalysis-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Enterprise_Control_Assessment,\r\ntitle = {An Enterprise Control Assessment Method for Variable Energy Resource-Induced Power System Imbalances—Part II: Parametric Sensitivity Analysis},\r\nauthor = {A Muzhikyan and A M Farid and K Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/7018074?denied=},\r\ndoi = {10.1109/TIE.2015.2395380},\r\nissn = {1557-9948},\r\nyear  = {2015},\r\ndate = {2015-01-22},\r\njournal = {IEEE Transactions on Industrial Electronics},\r\nvolume = {62},\r\nnumber = {4},\r\npages = {2459-2467},\r\npublisher = {IEEE},\r\nabstract = {In recent years, renewable energy has developed to address energy security and climate change drivers. However, as energy resources, they possess a variable and uncertain nature that significantly complicates grid balancing operations. As a result, an extensive academic and industrial literature has developed to determine how much such variable energy resources (VERs) may be integrated and how to best mitigate their impacts. While certainly insightful with the context of their application, many integration studies have methodological limitations because they are case specific, address a single control function of the power grid balancing operations, and are often not validated by simulation. The prequel to this paper presented a holistic method for the assessment of power grid imbalances induced by VERs based upon the concept of enterprise control. This paper now systematically studies these power grid imbalances in terms of five independent variables: 1) day-ahead market time step; 2) real-time market time step; 3) VER normalized variability; 4) normalized day-ahead VER forecast error; and 5) normalized short-term VER forecast error. The systematic study elucidates the impacts of these variables and provides significant insights as to how planners should address these independent variables in the future.},\r\nkeywords = {Algorithms, Control Theory, intelligent systems, Modeling, Simulation, sizing and control of smart grids},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In recent years, renewable energy has developed to address energy security and climate change drivers. However, as energy resources, they possess a variable and uncertain nature that significantly complicates grid balancing operations. As a result, an extensive academic and industrial literature has developed to determine how much such variable energy resources (VERs) may be integrated and how to best mitigate their impacts. While certainly insightful with the context of their application, many integration studies have methodological limitations because they are case specific, address a single control function of the power grid balancing operations, and are often not validated by simulation. The prequel to this paper presented a holistic method for the assessment of power grid imbalances induced by VERs based upon the concept of enterprise control. This paper now systematically studies these power grid imbalances in terms of five independent variables: 1) day-ahead market time step; 2) real-time market time step; 3) VER normalized variability; 4) normalized day-ahead VER forecast error; and 5) normalized short-term VER forecast error. The systematic study elucidates the impacts of these variables and provides significant insights as to how planners should address these independent variables in the future.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2014\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2014')\"\n      onkeypress=\"toggleGroup('group_2014')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2014</span>\n      <span class=\"bibbase_group_count\">\n        \n        (16)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"kim-wu-noel-youceftoumi-rimpropellerformicroautonomousunderwatervehicles-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T44A005/229722\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kim-wu-noel-youceftoumi-rimpropellerformicroautonomousunderwatervehicles-2014', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T44A005/229722', event);\">\n    RIM Propeller for Micro Autonomous Underwater Vehicles.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kim, D. D.; Wu, Y.; Noel, A.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>ASME 2014 Dynamic Systems and Control Conference</i>,  2014. ASME, ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T44A005/229722\"\n     onclick=\"log_download('kim-wu-noel-youceftoumi-rimpropellerformicroautonomousunderwatervehicles-2014', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T44A005/229722', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"RIM Propeller for Micro Autonomous Underwater Vehicles [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DSCC2014-6282\"\n     onclick=\"log_download('kim-wu-noel-youceftoumi-rimpropellerformicroautonomousunderwatervehicles-2014', 'http://doi.org/10.1115/DSCC2014-6282', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kim-wu-noel-youceftoumi-rimpropellerformicroautonomousunderwatervehicles-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kim-wu-noel-youceftoumi-rimpropellerformicroautonomousunderwatervehicles-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AVS_AUV_RIM_Control,\r\ntitle = {RIM Propeller for Micro Autonomous Underwater Vehicles},\r\nauthor = {David Donghyun Kim and You Wu and Antoine Noel and Kamal Youcef-Toumi},\r\nurl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T44A005/229722},\r\ndoi = {10.1115/DSCC2014-6282},\r\nisbn = {978-0-7918-4620-9},\r\nyear  = {2014},\r\ndate = {2014-12-19},\r\nbooktitle = {ASME 2014 Dynamic Systems and Control Conference},\r\npublisher = {ASME},\r\norganization = {ASME},\r\nabstract = {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.},\r\nkeywords = {Computer vision for autonomous vehicle sensing, Control Theory, Experimentation, Fabrication, intelligent systems, Mechatronic Design, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"shapiro-adhikari-driggers-kissel-lantz-rollins-youceftoumi-noiseandcontroldecouplingofadvancedligosuspensions-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1088/0264-9381/32/1/015004\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'shapiro-adhikari-driggers-kissel-lantz-rollins-youceftoumi-noiseandcontroldecouplingofadvancedligosuspensions-2014', 'https://doi.org/10.1088/0264-9381/32/1/015004', event);\">\n    Noise and control decoupling of Advanced LIGO suspensions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Shapiro, B N; Adhikari, R; Driggers, J; Kissel, J; Lantz, B; Rollins, J;  and Youcef-Toumi, K\n</span>\n\n  \n\n</span>\n\n  <i>Classical and Quantum Gravity</i>, 32(1): 015004.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1088/0264-9381/32/1/015004\"\n     onclick=\"log_download('shapiro-adhikari-driggers-kissel-lantz-rollins-youceftoumi-noiseandcontroldecouplingofadvancedligosuspensions-2014', 'https://doi.org/10.1088/0264-9381/32/1/015004', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Noise and control decoupling of Advanced LIGO suspensions [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1088/0264-9381/32/1/015004\"\n     onclick=\"log_download('shapiro-adhikari-driggers-kissel-lantz-rollins-youceftoumi-noiseandcontroldecouplingofadvancedligosuspensions-2014', 'http://doi.org/10.1088/0264-9381/32/1/015004', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/shapiro-adhikari-driggers-kissel-lantz-rollins-youceftoumi-noiseandcontroldecouplingofadvancedligosuspensions-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('shapiro-adhikari-driggers-kissel-lantz-rollins-youceftoumi-noiseandcontroldecouplingofadvancedligosuspensions-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Noise_Control_Decoupling,\r\ntitle = {Noise and control decoupling of Advanced LIGO suspensions},\r\nauthor = {B N Shapiro and R Adhikari and J Driggers and J Kissel and B Lantz and J Rollins and K Youcef-Toumi},\r\nurl = {https://doi.org/10.1088/0264-9381/32/1/015004},\r\ndoi = {10.1088/0264-9381/32/1/015004},\r\nyear  = {2014},\r\ndate = {2014-12-10},\r\njournal = {Classical and Quantum Gravity},\r\nvolume = {32},\r\nnumber = {1},\r\npages = {015004},\r\npublisher = {IOP Publishing},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Experimentation, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling, Visualization},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"francy-farid-youceftoumi-eventtriggeredstateestimationtechniquesforpowersystemswithintegratedvariableenergyresources-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1016/j.isatra.2014.11.001\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'francy-farid-youceftoumi-eventtriggeredstateestimationtechniquesforpowersystemswithintegratedvariableenergyresources-2014', 'https://doi.org/10.1016/j.isatra.2014.11.001', event);\">\n    Event triggered state estimation techniques for power systems with integrated variable energy resources.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Francy, R. C; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>ISA transactions</i>, 56: 165—172.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1016/j.isatra.2014.11.001\"\n     onclick=\"log_download('francy-farid-youceftoumi-eventtriggeredstateestimationtechniquesforpowersystemswithintegratedvariableenergyresources-2014', 'https://doi.org/10.1016/j.isatra.2014.11.001', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Event triggered state estimation techniques for power systems with integrated variable energy resources [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1016/j.isatra.2014.11.001\"\n     onclick=\"log_download('francy-farid-youceftoumi-eventtriggeredstateestimationtechniquesforpowersystemswithintegratedvariableenergyresources-2014', 'http://doi.org/10.1016/j.isatra.2014.11.001', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/francy-farid-youceftoumi-eventtriggeredstateestimationtechniquesforpowersystemswithintegratedvariableenergyresources-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('francy-farid-youceftoumi-eventtriggeredstateestimationtechniquesforpowersystemswithintegratedvariableenergyresources-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_State_Estimation_Power,\r\ntitle = {Event triggered state estimation techniques for power systems with integrated variable energy resources},\r\nauthor = {Reshma C Francy and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://doi.org/10.1016/j.isatra.2014.11.001},\r\ndoi = {10.1016/j.isatra.2014.11.001},\r\nissn = {0019-0578},\r\nyear  = {2014},\r\ndate = {2014-11-24},\r\njournal = {ISA transactions},\r\nvolume = {56},\r\npages = {165—172},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Experimentation, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lubega-santhosh-farid-youceftoumi-anintegratedenergyandwatermarketforthesupplysideoftheenergywaternexusintheengineeredinfrastructure-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/POWER/proceedings/POWER2014/46094/V002T10A003/282270\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lubega-santhosh-farid-youceftoumi-anintegratedenergyandwatermarketforthesupplysideoftheenergywaternexusintheengineeredinfrastructure-2014', 'https://asmedigitalcollection.asme.org/POWER/proceedings/POWER2014/46094/V002T10A003/282270', event);\">\n    An Integrated Energy and Water Market for the Supply Side of the Energy-Water Nexus in the Engineered Infrastructure.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lubega, W.; Santhosh, A.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>ASME 2014 Power Conference</i>,  2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/POWER/proceedings/POWER2014/46094/V002T10A003/282270\"\n     onclick=\"log_download('lubega-santhosh-farid-youceftoumi-anintegratedenergyandwatermarketforthesupplysideoftheenergywaternexusintheengineeredinfrastructure-2014', 'https://asmedigitalcollection.asme.org/POWER/proceedings/POWER2014/46094/V002T10A003/282270', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Integrated Energy and Water Market for the Supply Side of the Energy-Water Nexus in the Engineered Infrastructure [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/POWER2014-32075\"\n     onclick=\"log_download('lubega-santhosh-farid-youceftoumi-anintegratedenergyandwatermarketforthesupplysideoftheenergywaternexusintheengineeredinfrastructure-2014', 'http://doi.org/10.1115/POWER2014-32075', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lubega-santhosh-farid-youceftoumi-anintegratedenergyandwatermarketforthesupplysideoftheenergywaternexusintheengineeredinfrastructure-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lubega-santhosh-farid-youceftoumi-anintegratedenergyandwatermarketforthesupplysideoftheenergywaternexusintheengineeredinfrastructure-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Integrated_Electric_Water,\r\ntitle = {An Integrated Energy and Water Market for the Supply Side of the Energy-Water Nexus in the Engineered Infrastructure},\r\nauthor = {William Lubega and Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://asmedigitalcollection.asme.org/POWER/proceedings/POWER2014/46094/V002T10A003/282270},\r\ndoi = {10.1115/POWER2014-32075},\r\nisbn = {978-0-7918-4609-4},\r\nyear  = {2014},\r\ndate = {2014-11-19},\r\nbooktitle = {ASME 2014 Power Conference},\r\nabstract = {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.},\r\nkeywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chatzigeorgiou-wu-youceftoumi-benmansour-mitleakdetectoraninpipeleakdetectionrobot-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6907144\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chatzigeorgiou-wu-youceftoumi-benmansour-mitleakdetectoraninpipeleakdetectionrobot-2014', 'https://ieeexplore.ieee.org/document/6907144', event);\">\n    MIT Leak Detector: An in-pipe leak detection robot.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chatzigeorgiou, D.; Wu, Y.; Youcef-Toumi, K.;  and Ben-Mansour, R.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 2091-2091,  2014. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6907144\"\n     onclick=\"log_download('chatzigeorgiou-wu-youceftoumi-benmansour-mitleakdetectoraninpipeleakdetectionrobot-2014', 'https://ieeexplore.ieee.org/document/6907144', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"MIT Leak Detector: An in-pipe leak detection robot [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICRA.2014.6907144\"\n     onclick=\"log_download('chatzigeorgiou-wu-youceftoumi-benmansour-mitleakdetectoraninpipeleakdetectionrobot-2014', 'http://doi.org/10.1109/ICRA.2014.6907144', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chatzigeorgiou-wu-youceftoumi-benmansour-mitleakdetectoraninpipeleakdetectionrobot-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chatzigeorgiou-wu-youceftoumi-benmansour-mitleakdetectoraninpipeleakdetectionrobot-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Leak_Detecting_Robot,\r\ntitle = {MIT Leak Detector: An in-pipe leak detection robot},\r\nauthor = {Dimitris Chatzigeorgiou and You Wu and Kamal Youcef-Toumi and Rached Ben-Mansour},\r\nurl = {https://ieeexplore.ieee.org/document/6907144},\r\ndoi = {10.1109/ICRA.2014.6907144},\r\nisbn = {978-1-4799-3685-4},\r\nyear  = {2014},\r\ndate = {2014-09-24},\r\nbooktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},\r\npages = {2091-2091},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {In this work we present a new in-pipe leak detection robot, the MIT Leak Detector. The system performs autonomous leak detection in gas pipes in a reliable and robust fashion. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. As the MIT Leak Detector travels through pipes, it picks up the pressure gradient in case of leaks via a carefully designed detector. In this work we demonstrate the performance of the system in a lab setup, which consists of 100mm ID pipes containing pressurized air.},\r\nkeywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this work we present a new in-pipe leak detection robot, the MIT Leak Detector. The system performs autonomous leak detection in gas pipes in a reliable and robust fashion. Detection in based on the presence of a pressure gradient in the neighborhood of the leak. As the MIT Leak Detector travels through pipes, it picks up the pressure gradient in case of leaks via a carefully designed detector. In this work we demonstrate the performance of the system in a lab setup, which consists of 100mm ID pipes containing pressurized air.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chatzigeorgiou-youceftoumi-benmansour-modelingandanalysisofaninpiperoboticleakdetector-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/abstract/document/6907341\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chatzigeorgiou-youceftoumi-benmansour-modelingandanalysisofaninpiperoboticleakdetector-2014', 'https://ieeexplore.ieee.org/abstract/document/6907341', event);\">\n    Modeling and analysis of an in-pipe robotic leak detector.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chatzigeorgiou, D.; Youcef-Toumi, K.;  and Ben-Mansour, R.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 3351-3357,  2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/abstract/document/6907341\"\n     onclick=\"log_download('chatzigeorgiou-youceftoumi-benmansour-modelingandanalysisofaninpiperoboticleakdetector-2014', 'https://ieeexplore.ieee.org/abstract/document/6907341', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modeling and analysis of an in-pipe robotic leak detector [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICRA.2014.6907341\"\n     onclick=\"log_download('chatzigeorgiou-youceftoumi-benmansour-modelingandanalysisofaninpiperoboticleakdetector-2014', 'http://doi.org/10.1109/ICRA.2014.6907341', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chatzigeorgiou-youceftoumi-benmansour-modelingandanalysisofaninpiperoboticleakdetector-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chatzigeorgiou-youceftoumi-benmansour-modelingandanalysisofaninpiperoboticleakdetector-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Analysis_Leak_Detection,\r\ntitle = {Modeling and analysis of an in-pipe robotic leak detector},\r\nauthor = {Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Rached Ben-Mansour},\r\nurl = {https://ieeexplore.ieee.org/abstract/document/6907341},\r\ndoi = {10.1109/ICRA.2014.6907341},\r\nisbn = {978-1-4799-3685-4},\r\nyear  = {2014},\r\ndate = {2014-09-24},\r\nbooktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)},\r\npages = {3351-3357},\r\npublisher = {IEEE},\r\nabstract = {Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.},\r\nkeywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Leakage is the most important factor for unaccounted losses in any pipe network around the world. Most state of the art leak detection systems have limited applicability, lack in reliability and depend on user experience for data extraction. This paper is about a novel system for robotic pipe integrity inspection. Unlike existing systems, detection in based on the presence of a pressure gradient in the neighborhood of a leak. This phenomenon is translated into force measurements via a specially designed and instrumented mechanical embodiment (detector). In this paper an analytic dynamic model of the robotic detector is derived and studied. A prototype is built and the main concepts are validated via experiments.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chatzigeorgiou-youceftoumi-benmansour-detectionestimationalgorithmsforinpipeleakdetection-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6859203\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chatzigeorgiou-youceftoumi-benmansour-detectionestimationalgorithmsforinpipeleakdetection-2014', 'https://ieeexplore.ieee.org/document/6859203', event);\">\n    Detection estimation algorithms for in-pipe leak detection.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chatzigeorgiou, D.; Youcef-Toumi, K.;  and Ben-Mansour, R.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 American Control Conference</i>, pages 5508-5514,  2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6859203\"\n     onclick=\"log_download('chatzigeorgiou-youceftoumi-benmansour-detectionestimationalgorithmsforinpipeleakdetection-2014', 'https://ieeexplore.ieee.org/document/6859203', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Detection estimation algorithms for in-pipe leak detection [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2014.6859203\"\n     onclick=\"log_download('chatzigeorgiou-youceftoumi-benmansour-detectionestimationalgorithmsforinpipeleakdetection-2014', 'http://doi.org/10.1109/ACC.2014.6859203', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chatzigeorgiou-youceftoumi-benmansour-detectionestimationalgorithmsforinpipeleakdetection-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chatzigeorgiou-youceftoumi-benmansour-detectionestimationalgorithmsforinpipeleakdetection-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Estimation_Algorithms,\r\ntitle = {Detection estimation algorithms for in-pipe leak detection},\r\nauthor = {Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Rached Ben-Mansour},\r\nurl = {https://ieeexplore.ieee.org/document/6859203},\r\ndoi = {10.1109/ACC.2014.6859203},\r\nisbn = {978-1-4799-3274-0},\r\nyear  = {2014},\r\ndate = {2014-07-21},\r\nbooktitle = {2014 American Control Conference},\r\npages = {5508-5514},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Control Theory, Experimentation, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics and Automation, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bozchalooi-youceftoumi-controldesignfordivisionandcompensationwithapplicationtohighspeedlargerangenanopositioning-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6859262\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bozchalooi-youceftoumi-controldesignfordivisionandcompensationwithapplicationtohighspeedlargerangenanopositioning-2014', 'https://ieeexplore.ieee.org/document/6859262', event);\">\n    Control design for division and compensation with application to high-speed/large-range nano-positioning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bozchalooi, S. I;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 American Control Conference</i>, pages 1643-1648,  2014. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6859262\"\n     onclick=\"log_download('bozchalooi-youceftoumi-controldesignfordivisionandcompensationwithapplicationtohighspeedlargerangenanopositioning-2014', 'https://ieeexplore.ieee.org/document/6859262', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Control design for division and compensation with application to high-speed/large-range nano-positioning [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2014.6859262\"\n     onclick=\"log_download('bozchalooi-youceftoumi-controldesignfordivisionandcompensationwithapplicationtohighspeedlargerangenanopositioning-2014', 'http://doi.org/10.1109/ACC.2014.6859262', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bozchalooi-youceftoumi-controldesignfordivisionandcompensationwithapplicationtohighspeedlargerangenanopositioning-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bozchalooi-youceftoumi-controldesignfordivisionandcompensationwithapplicationtohighspeedlargerangenanopositioning-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Nano_Positioning_Control,\r\ntitle = {Control design for division and compensation with application to high-speed/large-range nano-positioning},\r\nauthor = {Soltani I Bozchalooi and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/6859262},\r\ndoi = {10.1109/ACC.2014.6859262},\r\nisbn = {978-1-4799-3274-0},\r\nyear  = {2014},\r\ndate = {2014-07-21},\r\nbooktitle = {2014 American Control Conference},\r\npages = {1643-1648},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Experimentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"muzhikyan-farid-youceftoumi-anenhancedmethodforthedeterminationofloadfollowingreserves-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6859254&amp;isnumber=6858556\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'muzhikyan-farid-youceftoumi-anenhancedmethodforthedeterminationofloadfollowingreserves-2014', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6859254&amp;isnumber=6858556', event);\">\n    An enhanced method for the determination of load following reserves.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Muzhikyan, A.; Farid, A M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 American Control Conference</i>, pages 926-933,  2014. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6859254&amp;isnumber=6858556\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-anenhancedmethodforthedeterminationofloadfollowingreserves-2014', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6859254&amp;isnumber=6858556', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An enhanced method for the determination of load following reserves [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2014.6859254\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-anenhancedmethodforthedeterminationofloadfollowingreserves-2014', 'http://doi.org/10.1109/ACC.2014.6859254', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/muzhikyan-farid-youceftoumi-anenhancedmethodforthedeterminationofloadfollowingreserves-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('muzhikyan-farid-youceftoumi-anenhancedmethodforthedeterminationofloadfollowingreserves-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Reserve_Quantification,\r\ntitle = {An enhanced method for the determination of load following reserves},\r\nauthor = {Aramazd Muzhikyan and A M Farid and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6859254&amp;isnumber=6858556},\r\ndoi = {10.1109/ACC.2014.6859254},\r\nisbn = {978-1-4799-3274-0},\r\nyear  = {2014},\r\ndate = {2014-07-21},\r\nbooktitle = {2014 American Control Conference},\r\npages = {926-933},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {Power generation reserves play a central role for maintaining the balance of generation and consumption. Reserves, scheduled in advance, compensate for forecast error, variability and transmission losses. However, as reserves are a costly commodity, their amount should be carefully assessed to prevent unnecessary expense. Currently, the quantity of required reserves are determined based upon a posteriori methods that use operator&#x27;s experience and established assumptions. This paper instead presents a method founded upon non-dimensional numbers and digitial signal processing to determine the quantity of load following reserves a priori.},\r\nkeywords = {intelligent systems, Modeling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Power generation reserves play a central role for maintaining the balance of generation and consumption. Reserves, scheduled in advance, compensate for forecast error, variability and transmission losses. However, as reserves are a costly commodity, their amount should be carefully assessed to prevent unnecessary expense. Currently, the quantity of required reserves are determined based upon a posteriori methods that use operator's experience and established assumptions. This paper instead presents a method founded upon non-dimensional numbers and digitial signal processing to determine the quantity of load following reserves a priori.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"heller-youceftoumi-analysisandcontrolofathermalmanagementsystemforrobotsintemperaturerestrictedenvironments-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6858774&amp;isnumber=6858556\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'heller-youceftoumi-analysisandcontrolofathermalmanagementsystemforrobotsintemperaturerestrictedenvironments-2014', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6858774&amp;isnumber=6858556', event);\">\n    Analysis and control of a thermal management system for robots in temperature-restricted environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Heller, E. B;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 American Control Conference</i>,  2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6858774&amp;isnumber=6858556\"\n     onclick=\"log_download('heller-youceftoumi-analysisandcontrolofathermalmanagementsystemforrobotsintemperaturerestrictedenvironments-2014', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6858774&amp;isnumber=6858556', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Analysis and control of a thermal management system for robots in temperature-restricted environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2014.6858774\"\n     onclick=\"log_download('heller-youceftoumi-analysisandcontrolofathermalmanagementsystemforrobotsintemperaturerestrictedenvironments-2014', 'http://doi.org/10.1109/ACC.2014.6858774', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/heller-youceftoumi-analysisandcontrolofathermalmanagementsystemforrobotsintemperaturerestrictedenvironments-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('heller-youceftoumi-analysisandcontrolofathermalmanagementsystemforrobotsintemperaturerestrictedenvironments-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_DDL_Thermal_Robot_Management,\r\ntitle = {Analysis and control of a thermal management system for robots in temperature-restricted environments},\r\nauthor = {Ethan B Heller and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6858774&amp;isnumber=6858556},\r\ndoi = {10.1109/ACC.2014.6858774},\r\nisbn = {978-1-4799-3274-0},\r\nyear  = {2014},\r\ndate = {2014-06-01},\r\nbooktitle = {2014 American Control Conference},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Data-driven learning for intelligent machine maintenance, intelligent systems, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"santhosh-farid-youceftoumi-realtimeeconomicdispatchforthesupplysideoftheenergywaternexus-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Real-time economic dispatch for the supply side of the energy-water nexus.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Santhosh, A.; Farid, A.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Applied Energy</i>, 122: 42–52.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1016/j.apenergy.2014.01.062\"\n     onclick=\"log_download('santhosh-farid-youceftoumi-realtimeeconomicdispatchforthesupplysideoftheenergywaternexus-2014', 'http://doi.org/10.1016/j.apenergy.2014.01.062', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/santhosh-farid-youceftoumi-realtimeeconomicdispatchforthesupplysideoftheenergywaternexus-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('santhosh-farid-youceftoumi-realtimeeconomicdispatchforthesupplysideoftheenergywaternexus-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Economic_Energy_Water_Nexus,\r\ntitle = {Real-time economic dispatch for the supply side of the energy-water nexus},\r\nauthor = {Apoorva Santhosh and Amro Farid and Kamal Youcef-Toumi},\r\ndoi = {10.1016/j.apenergy.2014.01.062},\r\nyear  = {2014},\r\ndate = {2014-06-01},\r\njournal = {Applied Energy},\r\nvolume = {122},\r\npages = {42–52},\r\npublisher = {researchgate},\r\nabstract = {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. Traditionally, the infrastructure systems that deliver these precious commodities, the water distribution and power transmission networks are thought of as separate, uncoupled systems. However, in reality, they are very much coupled in what is commonly known as the energy-water nexus. Although this subject has recently caught the attention of numerous policy and regulatory agencies, 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 fills this gap by addressing the supply side of this integrated engineering system. Specifically, it develops the multi-plant real-time simultaneous economic dispatch of power and water. While significant background literature has addressed traditional power dispatch, and the emerging co-dispatch of power and heat, as of now there does not exist a parameterized model for the optimized dispatch of power and water for multiple power, water, and coproduction facilities. The work presents such a model where production costs are minimized subject to capacity, demand and process constraints. It is demonstrated on an illustrative example of modest size. Interesting results were observed suggesting that the coproduction minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. 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.},\r\nkeywords = {Algorithms, Computational Intelligence, Control Theory, Data-driven learning for intelligent machine maintenance, intelligent systems, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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. Traditionally, the infrastructure systems that deliver these precious commodities, the water distribution and power transmission networks are thought of as separate, uncoupled systems. However, in reality, they are very much coupled in what is commonly known as the energy-water nexus. Although this subject has recently caught the attention of numerous policy and regulatory agencies, 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 fills this gap by addressing the supply side of this integrated engineering system. Specifically, it develops the multi-plant real-time simultaneous economic dispatch of power and water. While significant background literature has addressed traditional power dispatch, and the emerging co-dispatch of power and heat, as of now there does not exist a parameterized model for the optimized dispatch of power and water for multiple power, water, and coproduction facilities. The work presents such a model where production costs are minimized subject to capacity, demand and process constraints. It is demonstrated on an illustrative example of modest size. Interesting results were observed suggesting that the coproduction minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. 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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rivera-farid-youceftoumi-amultiagentsystemtransientstabilityplatformforresilientselfhealingoperationofmultiplemicrogrids-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6816377\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rivera-farid-youceftoumi-amultiagentsystemtransientstabilityplatformforresilientselfhealingoperationofmultiplemicrogrids-2014', 'https://ieeexplore.ieee.org/document/6816377', event);\">\n    A multi-agent system transient stability platform for resilient self-healing operation of multiple microgrids.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rivera, S.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>ISGT 2014</i>, pages 1-5,  2014. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6816377\"\n     onclick=\"log_download('rivera-farid-youceftoumi-amultiagentsystemtransientstabilityplatformforresilientselfhealingoperationofmultiplemicrogrids-2014', 'https://ieeexplore.ieee.org/document/6816377', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A multi-agent system transient stability platform for resilient self-healing operation of multiple microgrids [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ISGT.2014.6816377\"\n     onclick=\"log_download('rivera-farid-youceftoumi-amultiagentsystemtransientstabilityplatformforresilientselfhealingoperationofmultiplemicrogrids-2014', 'http://doi.org/10.1109/ISGT.2014.6816377', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rivera-farid-youceftoumi-amultiagentsystemtransientstabilityplatformforresilientselfhealingoperationofmultiplemicrogrids-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rivera-farid-youceftoumi-amultiagentsystemtransientstabilityplatformforresilientselfhealingoperationofmultiplemicrogrids-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Multi_Agent_Micro_Grid,\r\ntitle = {A multi-agent system transient stability platform for resilient self-healing operation of multiple microgrids},\r\nauthor = {Sergio Rivera and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/6816377},\r\ndoi = {10.1109/ISGT.2014.6816377},\r\nisbn = {978-1-4799-3653-3},\r\nyear  = {2014},\r\ndate = {2014-05-19},\r\nbooktitle = {ISGT 2014},\r\npages = {1-5},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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&#x27;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&#x27;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.},\r\nkeywords = {Computational Intelligence, intelligent systems, Modeling; Systems and Control of Smart Grids, Physical System Modeling, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chatzigeorgiou-youceftoumi-benmansour-designofanovelinpipereliableleakdetector-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6778062?arnumber=6778062\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chatzigeorgiou-youceftoumi-benmansour-designofanovelinpipereliableleakdetector-2014', 'https://ieeexplore.ieee.org/document/6778062?arnumber=6778062', event);\">\n    Design of a Novel In-Pipe Reliable Leak Detector.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chatzigeorgiou, D; Youcef-Toumi, K;  and Ben-Mansour, R\n</span>\n\n  \n\n</span>\n\n  <i>IEEE/ASME Transactions on Mechatronics</i>, 20(2): 824-833.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6778062?arnumber=6778062\"\n     onclick=\"log_download('chatzigeorgiou-youceftoumi-benmansour-designofanovelinpipereliableleakdetector-2014', 'https://ieeexplore.ieee.org/document/6778062?arnumber=6778062', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design of a Novel In-Pipe Reliable Leak Detector [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TMECH.2014.2308145\"\n     onclick=\"log_download('chatzigeorgiou-youceftoumi-benmansour-designofanovelinpipereliableleakdetector-2014', 'http://doi.org/10.1109/TMECH.2014.2308145', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chatzigeorgiou-youceftoumi-benmansour-designofanovelinpipereliableleakdetector-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chatzigeorgiou-youceftoumi-benmansour-designofanovelinpipereliableleakdetector-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Leak_Detector,\r\ntitle = {Design of a Novel In-Pipe Reliable Leak Detector},\r\nauthor = {D Chatzigeorgiou and K Youcef-Toumi and R Ben-Mansour},\r\nurl = {https://ieeexplore.ieee.org/document/6778062?arnumber=6778062},\r\ndoi = {10.1109/TMECH.2014.2308145},\r\nissn = {1941-014X},\r\nyear  = {2014},\r\ndate = {2014-03-25},\r\njournal = {IEEE/ASME Transactions on Mechatronics},\r\nvolume = {20},\r\nnumber = {2},\r\npages = {824-833},\r\npublisher = {IEEE},\r\nabstract = {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&#x27;s performance under real conditions in an experimental laboratory setup.},\r\nkeywords = {Control Theory, Experimentation, Inspection, Physical System Modeling, repair &amp;amp; intelligence for water distribution pipes, Robotics &amp;amp; Automation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wu-chatzigeorgiou-youceftoumi-mekid-benmansour-channelawarerelaynodeplacementinwirelesssensornetworksforpipelineinspection-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.researchgate.net/publication/261282962_Channel-Aware_Relay_Node_Placement_in_Wireless_Sensor_Networks_for_Pipeline_Inspection\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wu-chatzigeorgiou-youceftoumi-mekid-benmansour-channelawarerelaynodeplacementinwirelesssensornetworksforpipelineinspection-2014', 'https://www.researchgate.net/publication/261282962_Channel-Aware_Relay_Node_Placement_in_Wireless_Sensor_Networks_for_Pipeline_Inspection', event);\">\n    Channel-Aware Relay Node Placement in Wireless Sensor Networks for Pipeline Inspection.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wu, D.; Chatzigeorgiou, D.; Youcef-Toumi, K.; Mekid, S.;  and Ben-Mansour, R.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the American Control Conference (2013)</i>,  2014. ACC, ACC\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.researchgate.net/publication/261282962_Channel-Aware_Relay_Node_Placement_in_Wireless_Sensor_Networks_for_Pipeline_Inspection\"\n     onclick=\"log_download('wu-chatzigeorgiou-youceftoumi-mekid-benmansour-channelawarerelaynodeplacementinwirelesssensornetworksforpipelineinspection-2014', 'https://www.researchgate.net/publication/261282962_Channel-Aware_Relay_Node_Placement_in_Wireless_Sensor_Networks_for_Pipeline_Inspection', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Channel-Aware Relay Node Placement in Wireless Sensor Networks for Pipeline Inspection [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TWC.2014.2314120\"\n     onclick=\"log_download('wu-chatzigeorgiou-youceftoumi-mekid-benmansour-channelawarerelaynodeplacementinwirelesssensornetworksforpipelineinspection-2014', 'http://doi.org/10.1109/TWC.2014.2314120', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wu-chatzigeorgiou-youceftoumi-mekid-benmansour-channelawarerelaynodeplacementinwirelesssensornetworksforpipelineinspection-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wu-chatzigeorgiou-youceftoumi-mekid-benmansour-channelawarerelaynodeplacementinwirelesssensornetworksforpipelineinspection-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Node_Pipeline_Inspection,\r\ntitle = {Channel-Aware Relay Node Placement in Wireless Sensor Networks for Pipeline Inspection},\r\nauthor = {Dalei Wu and Dimitris Chatzigeorgiou and Kamal Youcef-Toumi and Samir Mekid and Rached Ben-Mansour},\r\nurl = {https://www.researchgate.net/publication/261282962_Channel-Aware_Relay_Node_Placement_in_Wireless_Sensor_Networks_for_Pipeline_Inspection},\r\ndoi = {10.1109/TWC.2014.2314120},\r\nissn = {1536-1276},\r\nyear  = {2014},\r\ndate = {2014-03-24},\r\nbooktitle = {Proceedings of the American Control Conference (2013)},\r\npublisher = {ACC},\r\norganization = {ACC},\r\nabstract = {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&#x27;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&#x27;s transmission power. Simulation results show the efficacy of the proposed framework.},\r\nkeywords = {Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"santhosh-farid-youceftoumi-optimalnetworkflowforthesupplysideoftheenergywaternexus-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6698578\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'santhosh-farid-youceftoumi-optimalnetworkflowforthesupplysideoftheenergywaternexus-2014', 'https://ieeexplore.ieee.org/document/6698578', event);\">\n    Optimal network flow for the supply side of the energy-water nexus.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Santhosh, A.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2013 IEEE International Workshop on Inteligent Energy Systems (IWIES)</i>, pages 155-160,  2014. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6698578\"\n     onclick=\"log_download('santhosh-farid-youceftoumi-optimalnetworkflowforthesupplysideoftheenergywaternexus-2014', 'https://ieeexplore.ieee.org/document/6698578', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Optimal network flow for the supply side of the energy-water nexus [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IWIES.2013.6698578\"\n     onclick=\"log_download('santhosh-farid-youceftoumi-optimalnetworkflowforthesupplysideoftheenergywaternexus-2014', 'http://doi.org/10.1109/IWIES.2013.6698578', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/santhosh-farid-youceftoumi-optimalnetworkflowforthesupplysideoftheenergywaternexus-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('santhosh-farid-youceftoumi-optimalnetworkflowforthesupplysideoftheenergywaternexus-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Water_Plant_Sustainability,\r\ntitle = {Optimal network flow for the supply side of the energy-water nexus},\r\nauthor = {Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/6698578},\r\ndoi = {10.1109/IWIES.2013.6698578},\r\nisbn = {978-1-4799-1135-6},\r\nyear  = {2014},\r\ndate = {2014-01-06},\r\nbooktitle = {2013 IEEE International Workshop on Inteligent Energy Systems (IWIES)},\r\npages = {155-160},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {Clean energy and water are two essential resources that any society must securely deliver. Their usage raises sustainability issues and questions of nations&#x27; 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.},\r\nkeywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bozchalooi-youceftoumi-multiactuationandpicontrolasimplerecipeforhighspeedandlargerangeatomicforcemicroscopy-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.sciencedirect.com/science/article/pii/S0304399114001491\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bozchalooi-youceftoumi-multiactuationandpicontrolasimplerecipeforhighspeedandlargerangeatomicforcemicroscopy-2014', 'http://www.sciencedirect.com/science/article/pii/S0304399114001491', event);\">\n    Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bozchalooi, I. S.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Ültramicroscopy</i>, 146: 117 - 124.  2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.sciencedirect.com/science/article/pii/S0304399114001491\"\n     onclick=\"log_download('bozchalooi-youceftoumi-multiactuationandpicontrolasimplerecipeforhighspeedandlargerangeatomicforcemicroscopy-2014', 'http://www.sciencedirect.com/science/article/pii/S0304399114001491', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.ultramic.2014.07.010\"\n     onclick=\"log_download('bozchalooi-youceftoumi-multiactuationandpicontrolasimplerecipeforhighspeedandlargerangeatomicforcemicroscopy-2014', 'http://doi.org/https://doi.org/10.1016/j.ultramic.2014.07.010', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bozchalooi-youceftoumi-multiactuationandpicontrolasimplerecipeforhighspeedandlargerangeatomicforcemicroscopy-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bozchalooi-youceftoumi-multiactuationandpicontrolasimplerecipeforhighspeedandlargerangeatomicforcemicroscopy-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Multi_PI_control,\r\ntitle = {Multi-actuation and PI control: A simple recipe for high-speed and large-range atomic force microscopy},\r\nauthor = {Iman Soltani Bozchalooi and Kamal Youcef-Toumi},\r\nurl = {http://www.sciencedirect.com/science/article/pii/S0304399114001491},\r\ndoi = {https://doi.org/10.1016/j.ultramic.2014.07.010},\r\nissn = {0304-3991},\r\nyear  = {2014},\r\ndate = {2014-01-01},\r\njournal = {Ültramicroscopy},\r\nvolume = {146},\r\npages = {117 - 124},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2013\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2013')\"\n      onkeypress=\"toggleGroup('group_2013')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2013</span>\n      <span class=\"bibbase_group_count\">\n        \n        (12)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"francy-farid-youceftoumi-aneventtriggeredtrackingstateestimatorforpowersystemswithintegratedwindgeneration-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6617292\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'francy-farid-youceftoumi-aneventtriggeredtrackingstateestimatorforpowersystemswithintegratedwindgeneration-2013', 'https://ieeexplore.ieee.org/document/6617292', event);\">\n    An event triggered tracking state estimator for power systems with integrated wind generation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Francy, R.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2013 IEEE Grenoble Conference</i>, pages 1-6,  2013. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6617292\"\n     onclick=\"log_download('francy-farid-youceftoumi-aneventtriggeredtrackingstateestimatorforpowersystemswithintegratedwindgeneration-2013', 'https://ieeexplore.ieee.org/document/6617292', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An event triggered tracking state estimator for power systems with integrated wind generation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/PTC.2013.6652180\"\n     onclick=\"log_download('francy-farid-youceftoumi-aneventtriggeredtrackingstateestimatorforpowersystemswithintegratedwindgeneration-2013', 'http://doi.org/10.1109/PTC.2013.6652180', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/francy-farid-youceftoumi-aneventtriggeredtrackingstateestimatorforpowersystemswithintegratedwindgeneration-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('francy-farid-youceftoumi-aneventtriggeredtrackingstateestimatorforpowersystemswithintegratedwindgeneration-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Wind_Energy_Integration,\r\ntitle = {An event triggered tracking state estimator for power systems with integrated wind generation},\r\nauthor = {Reshma Francy and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/6617292},\r\ndoi = {10.1109/PTC.2013.6652180},\r\nisbn = {978-1-4673-5669-5},\r\nyear  = {2013},\r\ndate = {2013-11-04},\r\nbooktitle = {2013 IEEE Grenoble Conference},\r\npages = {1-6},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {For many decades, state estimation has been a critical technology in the energy management systems utilized by transmission 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 such as wind and solar generation, however, introduce new dynamics and uncertainties into the system. Along with increase in variability which needs real time monitoring, state estimation will be extended to the distribution networks which increase the size of the problem. Conventional solutions to this problem result in large problem sets being solved at a faster rate thereby becoming computationally intensive. This work builds upon the recent contribution of event-triggering where the state estimator is only called in the case of considerable “novelty” in the evolution of the system state. Specifically, the concept of tracking saves significant computational effort at minimal expense of error by allowing for the update of system state between two consecutive triggered instances. The new event-triggered tracking state estimator (ETTSE) is demonstrated on the standard IEEE 14-bus system, and the results are observed for a specific bus.},\r\nkeywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  For many decades, state estimation has been a critical technology in the energy management systems utilized by transmission 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 such as wind and solar generation, however, introduce new dynamics and uncertainties into the system. Along with increase in variability which needs real time monitoring, state estimation will be extended to the distribution networks which increase the size of the problem. Conventional solutions to this problem result in large problem sets being solved at a faster rate thereby becoming computationally intensive. This work builds upon the recent contribution of event-triggering where the state estimator is only called in the case of considerable “novelty” in the evolution of the system state. Specifically, the concept of tracking saves significant computational effort at minimal expense of error by allowing for the update of system state between two consecutive triggered instances. The new event-triggered tracking state estimator (ETTSE) is demonstrated on the standard IEEE 14-bus system, and the results are observed for a specific bus.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"santhosh-farid-youceftoumi-designandevaluationofaninpipeleakdetectionsensingtechniquebasedonforcetransduction-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2012/45202/489/254570\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'santhosh-farid-youceftoumi-designandevaluationofaninpipeleakdetectionsensingtechniquebasedonforcetransduction-2013', 'https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2012/45202/489/254570', event);\">\n    Design and Evaluation of an In-Pipe Leak Detection Sensing Technique Based on Force Transduction.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Santhosh, A.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>ASME 2012 International Mechanical Engineering Congress and Exposition</i>,  2013. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2012/45202/489/254570\"\n     onclick=\"log_download('santhosh-farid-youceftoumi-designandevaluationofaninpipeleakdetectionsensingtechniquebasedonforcetransduction-2013', 'https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2012/45202/489/254570', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and Evaluation of an In-Pipe Leak Detection Sensing Technique Based on Force Transduction [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/IMECE2012-87493\"\n     onclick=\"log_download('santhosh-farid-youceftoumi-designandevaluationofaninpipeleakdetectionsensingtechniquebasedonforcetransduction-2013', 'http://doi.org/10.1115/IMECE2012-87493', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/santhosh-farid-youceftoumi-designandevaluationofaninpipeleakdetectionsensingtechniquebasedonforcetransduction-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('santhosh-farid-youceftoumi-designandevaluationofaninpipeleakdetectionsensingtechniquebasedonforcetransduction-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Force_Transduction_Leaking,\r\ntitle = {Design and Evaluation of an In-Pipe Leak Detection Sensing Technique Based on Force Transduction},\r\nauthor = {Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2012/45202/489/254570},\r\ndoi = {10.1115/IMECE2012-87493},\r\nisbn = {978-0-7918-4520-2},\r\nyear  = {2013},\r\ndate = {2013-10-08},\r\nbooktitle = {ASME 2012 International Mechanical Engineering Congress and Exposition},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"muzhikyan-farid-youceftoumi-variableenergyresourceinducedpowersystemimbalancesmitigationbyincreasedsystemflexibilityspinningreservesandregulation-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6617292\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'muzhikyan-farid-youceftoumi-variableenergyresourceinducedpowersystemimbalancesmitigationbyincreasedsystemflexibilityspinningreservesandregulation-2013', 'https://ieeexplore.ieee.org/document/6617292', event);\">\n    Variable energy resource induced power system imbalances: Mitigation by increased system flexibility, spinning reserves and regulation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Muzhikyan, A.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2013 1st IEEE Conference on Technologies for Sustainability (SusTech)</i>, pages 15-22,  2013. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6617292\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-variableenergyresourceinducedpowersystemimbalancesmitigationbyincreasedsystemflexibilityspinningreservesandregulation-2013', 'https://ieeexplore.ieee.org/document/6617292', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Variable energy resource induced power system imbalances: Mitigation by increased system flexibility, spinning reserves and regulation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/SusTech.2013.6617292\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-variableenergyresourceinducedpowersystemimbalancesmitigationbyincreasedsystemflexibilityspinningreservesandregulation-2013', 'http://doi.org/10.1109/SusTech.2013.6617292', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/muzhikyan-farid-youceftoumi-variableenergyresourceinducedpowersystemimbalancesmitigationbyincreasedsystemflexibilityspinningreservesandregulation-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('muzhikyan-farid-youceftoumi-variableenergyresourceinducedpowersystemimbalancesmitigationbyincreasedsystemflexibilityspinningreservesandregulation-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Generalized_Reserve_Analysis,\r\ntitle = {Variable energy resource induced power system imbalances: Mitigation by increased system flexibility, spinning reserves and regulation},\r\nauthor = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/6617292},\r\ndoi = {10.1109/SusTech.2013.6617292},\r\nisbn = {978-1-4673-4630-6},\r\nyear  = {2013},\r\ndate = {2013-10-03},\r\nbooktitle = {2013 1st IEEE Conference on Technologies for Sustainability (SusTech)},\r\npages = {15-22},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Algorithms, intelligent systems, Modeling; sizing and control for smart grids, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"santhosh-farid-adegbege-youceftoumi-simultaneouscooptimizationfortheeconomicdispatchofpowerandwaternetworks-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6615058\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'santhosh-farid-adegbege-youceftoumi-simultaneouscooptimizationfortheeconomicdispatchofpowerandwaternetworks-2013', 'https://ieeexplore.ieee.org/document/6615058', event);\">\n    Simultaneous co-optimization for the economic dispatch of power and water networks.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Santhosh, A.; Farid, A. M; Adegbege, A;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>9th IET International Conference on Advances in Power System Control, Operation and Management (APSCOM 2012)</i>, pages 1-6,  2013. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6615058\"\n     onclick=\"log_download('santhosh-farid-adegbege-youceftoumi-simultaneouscooptimizationfortheeconomicdispatchofpowerandwaternetworks-2013', 'https://ieeexplore.ieee.org/document/6615058', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Simultaneous co-optimization for the economic dispatch of power and water networks [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1049/cp.2012.2148\"\n     onclick=\"log_download('santhosh-farid-adegbege-youceftoumi-simultaneouscooptimizationfortheeconomicdispatchofpowerandwaternetworks-2013', 'http://doi.org/10.1049/cp.2012.2148', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/santhosh-farid-adegbege-youceftoumi-simultaneouscooptimizationfortheeconomicdispatchofpowerandwaternetworks-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('santhosh-farid-adegbege-youceftoumi-simultaneouscooptimizationfortheeconomicdispatchofpowerandwaternetworks-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Co_Optimization_Networks,\r\ntitle = {Simultaneous co-optimization for the economic dispatch of power and water networks},\r\nauthor = {Apoorva Santhosh and Amro M Farid and A Adegbege and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/6615058},\r\ndoi = {10.1049/cp.2012.2148},\r\nisbn = {978-1-84919-743-4},\r\nyear  = {2013},\r\ndate = {2013-09-30},\r\nbooktitle = {9th IET International Conference on Advances in Power System Control, Operation and Management (APSCOM 2012)},\r\npages = {1-6},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {Water distribution and power transmission networks are thought of as separate uncoupled infrastructure systems. In reality, they may be viewed as a single system which may be called the energy-water nexus. In hot and arid climates, this nexus takes on a deeper meaning in terms of the economic dispatch of power, water and cogenerating desalination units. This paper represents a co-optimization framework for the economic dispatch of water and electric power. In particular, an optimization program is provided that minimizes total costs as a function of power and water generation subject to demand, capacity and process constraints. It is distinct from existing literature in that it focuses on the simultaneous optimal operation of all plants within the power and water delivery networks within a generalized mathematical formulation. The optimization was then demonstrated on a hypothetical system composed of four power plants, three cogenerators and one pure water plant. Interesting results were observed suggesting that the cogenerator minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. The program provides a systematic method of achieving optimal results and can serve as basis for set-points upon which individual plants can implement their optimal control.},\r\nkeywords = {},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Water distribution and power transmission networks are thought of as separate uncoupled infrastructure systems. In reality, they may be viewed as a single system which may be called the energy-water nexus. In hot and arid climates, this nexus takes on a deeper meaning in terms of the economic dispatch of power, water and cogenerating desalination units. This paper represents a co-optimization framework for the economic dispatch of water and electric power. In particular, an optimization program is provided that minimizes total costs as a function of power and water generation subject to demand, capacity and process constraints. It is distinct from existing literature in that it focuses on the simultaneous optimal operation of all plants within the power and water delivery networks within a generalized mathematical formulation. The optimization was then demonstrated on a hypothetical system composed of four power plants, three cogenerators and one pure water plant. Interesting results were observed suggesting that the cogenerator minimum capacity limits and process constraints can lead to scenarios where cheaper single product plants can be crowded out of the dispatch. The program provides a systematic method of achieving optimal results and can serve as basis for set-points upon which individual plants can implement their optimal control.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"deshpande-sarma-youceftoumi-mekid-optimalcoverageofaninfrastructurenetworkusingsensorswithdistancedecayingsensingquality-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0005109813003774\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'deshpande-sarma-youceftoumi-mekid-optimalcoverageofaninfrastructurenetworkusingsensorswithdistancedecayingsensingquality-2013', 'https://www.sciencedirect.com/science/article/pii/S0005109813003774', event);\">\n    Optimal coverage of an infrastructure network using sensors with distance-decaying sensing quality.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Deshpande, A.; Sarma, S. E; Youcef-Toumi, K.;  and Mekid, S.\n</span>\n\n  \n\n</span>\n\n  <i>Automatica</i>, 49(11): 3351-3358.  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0005109813003774\"\n     onclick=\"log_download('deshpande-sarma-youceftoumi-mekid-optimalcoverageofaninfrastructurenetworkusingsensorswithdistancedecayingsensingquality-2013', 'https://www.sciencedirect.com/science/article/pii/S0005109813003774', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Optimal coverage of an infrastructure network using sensors with distance-decaying sensing quality [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.automatica.2013.07.029\"\n     onclick=\"log_download('deshpande-sarma-youceftoumi-mekid-optimalcoverageofaninfrastructurenetworkusingsensorswithdistancedecayingsensingquality-2013', 'http://doi.org/https://doi.org/10.1016/j.automatica.2013.07.029', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/deshpande-sarma-youceftoumi-mekid-optimalcoverageofaninfrastructurenetworkusingsensorswithdistancedecayingsensingquality-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('deshpande-sarma-youceftoumi-mekid-optimalcoverageofaninfrastructurenetworkusingsensorswithdistancedecayingsensingquality-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Distance_Decaying_Sensors,\r\ntitle = {Optimal coverage of an infrastructure network using sensors with distance-decaying sensing quality},\r\nauthor = {Ajay Deshpande and Sanjay E Sarma and Kamal Youcef-Toumi and Samir Mekid},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S0005109813003774},\r\ndoi = {https://doi.org/10.1016/j.automatica.2013.07.029},\r\nissn = {0005-1098},\r\nyear  = {2013},\r\ndate = {2013-08-27},\r\njournal = {Automatica},\r\nvolume = {49},\r\nnumber = {11},\r\npages = {3351-3358},\r\npublisher = {elsevier},\r\nabstract = {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.},\r\nkeywords = {Experimentation, Fabrication, Instrumentation, Mechatronic Design, Modeling; sizing and control of smart grids, Physical System Modeling},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"santhosh-farid-youceftoumi-theimpactofstoragefacilitiesonthesimultaneouseconomicdispatchofpowerandwaternetworkslimitedbyrampingconstraints-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6505794\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'santhosh-farid-youceftoumi-theimpactofstoragefacilitiesonthesimultaneouseconomicdispatchofpowerandwaternetworkslimitedbyrampingconstraints-2013', 'https://ieeexplore.ieee.org/document/6505794', event);\">\n    The impact of storage facilities on the simultaneous economic dispatch of power and water networks limited by ramping constraints.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Santhosh, A; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2013 IEEE International Conference on Industrial Technology (ICIT)</i>, pages 922-927,  2013. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6505794\"\n     onclick=\"log_download('santhosh-farid-youceftoumi-theimpactofstoragefacilitiesonthesimultaneouseconomicdispatchofpowerandwaternetworkslimitedbyrampingconstraints-2013', 'https://ieeexplore.ieee.org/document/6505794', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The impact of storage facilities on the simultaneous economic dispatch of power and water networks limited by ramping constraints [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICIT.2013.6505794\"\n     onclick=\"log_download('santhosh-farid-youceftoumi-theimpactofstoragefacilitiesonthesimultaneouseconomicdispatchofpowerandwaternetworkslimitedbyrampingconstraints-2013', 'http://doi.org/10.1109/ICIT.2013.6505794', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/santhosh-farid-youceftoumi-theimpactofstoragefacilitiesonthesimultaneouseconomicdispatchofpowerandwaternetworkslimitedbyrampingconstraints-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('santhosh-farid-youceftoumi-theimpactofstoragefacilitiesonthesimultaneouseconomicdispatchofpowerandwaternetworkslimitedbyrampingconstraints-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Water_Networks_Storage,\r\ntitle = {The impact of storage facilities on the simultaneous economic dispatch of power and water networks limited by ramping constraints},\r\nauthor = {A Santhosh and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/6505794},\r\ndoi = {10.1109/ICIT.2013.6505794},\r\nisbn = {978-1-4673-4569-9},\r\nyear  = {2013},\r\ndate = {2013-04-23},\r\nbooktitle = {2013 IEEE International Conference on Industrial Technology (ICIT)},\r\npages = {922-927},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {Recently, the production and consumption of energy and water resources and their potential coupling in what is often called the energy-water nexus has gained attention as an issue of global concern[1, 2]. Ultimately, a significant amount of water is required to produce energy and vice versa [2, 3]; motivating the need for co-optimization based approaches for the two resources. Recently, one such simultaneous co-optimization method has been contributed for the economic dispatch of networks that include water, power and co-production facilities [4]. That study showed that capacity and process constraints often limit total production cost. This paper seeks to add plant ramping behavior as potentially binding constraints and investigate the impact of water and storage facilities as a technology that can help alleviate binding constraints and lead to more levelized production and cost levels. The paper builds upon the optimization program provided in previous work [4] to develop two optimization programs with and without storage facilities and compares their respective results. Storage facilities are shown to reduce total operating costs and lead to more levelized daily production suggesting that they have an important role to play in the optimization of the energy-water nexus.},\r\nkeywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Recently, the production and consumption of energy and water resources and their potential coupling in what is often called the energy-water nexus has gained attention as an issue of global concern[1, 2]. Ultimately, a significant amount of water is required to produce energy and vice versa [2, 3]; motivating the need for co-optimization based approaches for the two resources. Recently, one such simultaneous co-optimization method has been contributed for the economic dispatch of networks that include water, power and co-production facilities [4]. That study showed that capacity and process constraints often limit total production cost. This paper seeks to add plant ramping behavior as potentially binding constraints and investigate the impact of water and storage facilities as a technology that can help alleviate binding constraints and lead to more levelized production and cost levels. The paper builds upon the optimization program provided in previous work [4] to develop two optimization programs with and without storage facilities and compares their respective results. Storage facilities are shown to reduce total operating costs and lead to more levelized daily production suggesting that they have an important role to play in the optimization of the energy-water nexus.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nia-soltani-li-han-hung-frank-youceftoumi-ortiz-etal-highbandwidthafmbasedrheologyrevealsthatcartilageismostsensitivetohighloadingratesatearlystagesofimpairment-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://dspace.mit.edu/handle/1721.1/92000\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nia-soltani-li-han-hung-frank-youceftoumi-ortiz-etal-highbandwidthafmbasedrheologyrevealsthatcartilageismostsensitivetohighloadingratesatearlystagesofimpairment-2013', 'https://dspace.mit.edu/handle/1721.1/92000', event);\">\n    High-Bandwidth AFM-Based Rheology Reveals that Cartilage is Most Sensitive to High Loading Rates at Early Stages of Impairment.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nia, H.; Soltani, I.; Li, Y.; Han, L.; Hung, H.; Frank, E.; Youcef-Toumi, K.; Ortiz, C.;  and Grodzinsky, A.\n</span>\n\n  \n\n</span>\n\n  <i>Biophysical journal</i>, 104: 1529-37.  2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://dspace.mit.edu/handle/1721.1/92000\"\n     onclick=\"log_download('nia-soltani-li-han-hung-frank-youceftoumi-ortiz-etal-highbandwidthafmbasedrheologyrevealsthatcartilageismostsensitivetohighloadingratesatearlystagesofimpairment-2013', 'https://dspace.mit.edu/handle/1721.1/92000', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"High-Bandwidth AFM-Based Rheology Reveals that Cartilage is Most Sensitive to High Loading Rates at Early Stages of Impairment [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1016/j.bpj.2013.02.048\"\n     onclick=\"log_download('nia-soltani-li-han-hung-frank-youceftoumi-ortiz-etal-highbandwidthafmbasedrheologyrevealsthatcartilageismostsensitivetohighloadingratesatearlystagesofimpairment-2013', 'http://doi.org/10.1016/j.bpj.2013.02.048', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nia-soltani-li-han-hung-frank-youceftoumi-ortiz-etal-highbandwidthafmbasedrheologyrevealsthatcartilageismostsensitivetohighloadingratesatearlystagesofimpairment-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nia-soltani-li-han-hung-frank-youceftoumi-ortiz-etal-highbandwidthafmbasedrheologyrevealsthatcartilageismostsensitivetohighloadingratesatearlystagesofimpairment-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Cartilage_Early_Impairment,\r\ntitle = {High-Bandwidth AFM-Based Rheology Reveals that Cartilage is Most Sensitive to High Loading Rates at Early Stages of Impairment},\r\nauthor = {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},\r\nurl = {https://dspace.mit.edu/handle/1721.1/92000},\r\ndoi = {10.1016/j.bpj.2013.02.048},\r\nissn = {00063496},\r\nyear  = {2013},\r\ndate = {2013-04-02},\r\njournal = {Biophysical journal},\r\nvolume = {104},\r\npages = {1529-37},\r\npublisher = {Elsevier B.V},\r\nabstract = {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.},\r\nkeywords = {Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Visualization},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chatzigeorgiou-wu-youceftoumi-benmansour-reliablesensingofleaksinpipelines-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chatzigeorgiou-wu-youceftoumi-benmansour-reliablesensingofleaksinpipelines-2013', 'https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013', event);\">\n    Reliable Sensing of Leaks in Pipelines.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chatzigeorgiou, D.; Wu, Y.; Youcef-Toumi, K.;  and Ben-Mansour, R.\n</span>\n\n  \n\n</span>\n\n  In <i>AWWA Annual Conference and Exposition, 2014</i>,  2013. ASME, ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013\"\n     onclick=\"log_download('chatzigeorgiou-wu-youceftoumi-benmansour-reliablesensingofleaksinpipelines-2013', 'https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Reliable Sensing of Leaks in Pipelines [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chatzigeorgiou-wu-youceftoumi-benmansour-reliablesensingofleaksinpipelines-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chatzigeorgiou-wu-youceftoumi-benmansour-reliablesensingofleaksinpipelines-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Reliable_Leak_Sensing,\r\ntitle = {Reliable Sensing of Leaks in Pipelines},\r\nauthor = {Dimitris Chatzigeorgiou and You Wu and Kamal Youcef-Toumi and Rached Ben-Mansour},\r\nurl = {https://www.academia.edu/8791279/Chatzigeorgiou_D._Wu_Y._Youcef-Toumi_K._and_Ben-Mansour_R._Reliable_Sensing_of_Leaks_in_Pipelines_ASME_Dynamic_Systems_and_Control_Conference_2013},\r\nisbn = {978-0-7918-5613-0},\r\nyear  = {2013},\r\ndate = {2013-01-01},\r\nbooktitle = {AWWA Annual Conference and Exposition, 2014},\r\npublisher = {ASME},\r\norganization = {ASME},\r\nabstract = {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 user experience. In this work we present a new in-pipe leak detection system, PipeGuard. PipeGuard performs autonomous leak detection in pipes and, thus, eliminates the need for 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 have validated the concepts by building a prototype and evaluated its performance under real conditions in an experimental laboratory setup.},\r\nkeywords = {Inspection; repair and intelligence for water distribution pipes, Physical Systems Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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 user experience. In this work we present a new in-pipe leak detection system, PipeGuard. PipeGuard performs autonomous leak detection in pipes and, thus, eliminates the need for 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 have validated the concepts by building a prototype and evaluated its performance under real conditions in an experimental laboratory setup.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lubega-santhosh-farid-youceftoumi-opportunitiesforintegratedenergyandwatermanagementinthegcc-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://amfarid.scripts.mit.edu/resources/Conferences/EWN-C36.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lubega-santhosh-farid-youceftoumi-opportunitiesforintegratedenergyandwatermanagementinthegcc-2013', 'http://amfarid.scripts.mit.edu/resources/Conferences/EWN-C36.pdf', event);\">\n    Opportunities for Integrated Energy and Water Management in the GCC.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Lubega, W. N; Santhosh, A.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>EU-GCC Renewable Energy Policy Experts' Workshop</i>,  2013. Gulf Research Center\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://amfarid.scripts.mit.edu/resources/Conferences/EWN-C36.pdf\"\n     onclick=\"log_download('lubega-santhosh-farid-youceftoumi-opportunitiesforintegratedenergyandwatermanagementinthegcc-2013', 'http://amfarid.scripts.mit.edu/resources/Conferences/EWN-C36.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Opportunities for Integrated Energy and Water Management in the GCC [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lubega-santhosh-farid-youceftoumi-opportunitiesforintegratedenergyandwatermanagementinthegcc-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lubega-santhosh-farid-youceftoumi-opportunitiesforintegratedenergyandwatermanagementinthegcc-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Integrated_Energy_Management,\r\ntitle = {Opportunities for Integrated Energy and Water Management in the GCC},\r\nauthor = {William N Lubega and Apoorva Santhosh and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {http://amfarid.scripts.mit.edu/resources/Conferences/EWN-C36.pdf},\r\nisbn = {978-1-4799-3685-4},\r\nyear  = {2013},\r\ndate = {2013-01-01},\r\nbooktitle = {EU-GCC Renewable Energy Policy Experts&#x27; Workshop},\r\npublisher = {Gulf Research Center},\r\nabstract = {Electric power is required to produce, treat, distribute, and recycle water while water is required to generate and consume electricity. The goal of this position paper is to identify and motivate opportunities for the operations management and planning of the energy-water nexus. It proceeds in three parts. First, an exposition of the energy-water nexus especially as it applies to the GCC is given. This discussion focuses on the electric power system, the potable water distribution system, and the wastewater distribution system. Then, the paper shifts to opportunities in operations management where recent work in the Laboratory for Intelligent Integrated Networks of Engineering Systems has produced a number of optimization programs to support the deregulated operation of integrated energy-water markets. To highlight the viability of this idea, an energy-water nexus supply side economic dispatch is presented. Finally, the position paper shifts to discuss planning opportunities for the energy-water nexus for the sustainable development of water and energy resources. These include new methods that encourage renewable energy penetration and balance the portfolio of desalination technologies. It also includes integrated strategies for the design of water infrastructure to minimize embedded energy while reusing water of various qualities. The paper concludes with a description of opportunities for EUGCC collaboration to support the purpose of the workshop.},\r\nkeywords = {intelligent systems, Modeling; sizing and control of smart grids},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Electric power is required to produce, treat, distribute, and recycle water while water is required to generate and consume electricity. The goal of this position paper is to identify and motivate opportunities for the operations management and planning of the energy-water nexus. It proceeds in three parts. First, an exposition of the energy-water nexus especially as it applies to the GCC is given. This discussion focuses on the electric power system, the potable water distribution system, and the wastewater distribution system. Then, the paper shifts to opportunities in operations management where recent work in the Laboratory for Intelligent Integrated Networks of Engineering Systems has produced a number of optimization programs to support the deregulated operation of integrated energy-water markets. To highlight the viability of this idea, an energy-water nexus supply side economic dispatch is presented. Finally, the position paper shifts to discuss planning opportunities for the energy-water nexus for the sustainable development of water and energy resources. These include new methods that encourage renewable energy penetration and balance the portfolio of desalination technologies. It also includes integrated strategies for the design of water infrastructure to minimize embedded energy while reusing water of various qualities. The paper concludes with a description of opportunities for EUGCC collaboration to support the purpose of the workshop.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"choi-youceftoumi-robotdesignforhighflowliquidpipenetworks-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6696360&amp;isnumber=6696319\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'choi-youceftoumi-robotdesignforhighflowliquidpipenetworks-2013', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6696360&amp;isnumber=6696319', event);\">\n    Robot design for high flow liquid pipe networks.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Choi, C.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2013 IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS)</i>, pages 246-251,  2013. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6696360&amp;isnumber=6696319\"\n     onclick=\"log_download('choi-youceftoumi-robotdesignforhighflowliquidpipenetworks-2013', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6696360&amp;isnumber=6696319', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robot design for high flow liquid pipe networks [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IROS.2013.6696360\"\n     onclick=\"log_download('choi-youceftoumi-robotdesignforhighflowliquidpipenetworks-2013', 'http://doi.org/10.1109/IROS.2013.6696360', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/choi-youceftoumi-robotdesignforhighflowliquidpipenetworks-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('choi-youceftoumi-robotdesignforhighflowliquidpipenetworks-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_High_Flow_Pipe_Robot,\r\ntitle = {Robot design for high flow liquid pipe networks},\r\nauthor = {Changrak Choi and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6696360&amp;isnumber=6696319},\r\ndoi = {10.1109/IROS.2013.6696360},\r\nyear  = {2013},\r\ndate = {2013-01-01},\r\nbooktitle = {2013 IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS)},\r\npages = {246-251},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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.},\r\nkeywords = {Experimentation, Fabrication, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp;amp; Automation, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rivera-farid-youceftoumi-coordinationandcontrolofmultiplemicrogridsusingmultiagentsystems-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rivera-farid-youceftoumi-coordinationandcontrolofmultiplemicrogridsusingmultiagentsystems-2013', 'https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems', event);\">\n    Coordination and Control of Multiple Microgrids Using Multi-Agent Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Rivera, S.; Farid, A.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>Energypath 2013: Our Global Sustainable Energy Future</i>,  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems\"\n     onclick=\"log_download('rivera-farid-youceftoumi-coordinationandcontrolofmultiplemicrogridsusingmultiagentsystems-2013', 'https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Coordination and Control of Multiple Microgrids Using Multi-Agent Systems [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/PTC.2013.6652180\"\n     onclick=\"log_download('rivera-farid-youceftoumi-coordinationandcontrolofmultiplemicrogridsusingmultiagentsystems-2013', 'http://doi.org/10.1109/PTC.2013.6652180', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rivera-farid-youceftoumi-coordinationandcontrolofmultiplemicrogridsusingmultiagentsystems-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rivera-farid-youceftoumi-coordinationandcontrolofmultiplemicrogridsusingmultiagentsystems-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Multi_Microgrid_Coordination,\r\ntitle = {Coordination and Control of Multiple Microgrids Using Multi-Agent Systems},\r\nauthor = {Sergio Rivera and Amro Farid and Kamal Youcef-Toumi},\r\nurl = {https://www.researchgate.net/publication/265042254_Coordination_and_Control_of_Multiple_Microgrids_Using_Multi-Agent_Systems},\r\ndoi = {10.1109/PTC.2013.6652180},\r\nisbn = {978-1-4673-5669-5},\r\nyear  = {2013},\r\ndate = {2013-01-01},\r\nbooktitle = {Energypath 2013: Our Global Sustainable Energy Future},\r\nabstract = {As distributed renewable generation sources continue to be integrated into the power grid, the concept of Microgrids has gained traction. Here, the integration challenge is not just in the control of an individual Microgrid but also in their coordination. This short communication presents a novel approach to inter-Microgrid coordination and control based upon Multi-Agent systems. An architecture based upon physical agents is presented and is implemented on a dual platform of JADE (environment for developing agents) and Matlab-Matpower (power system analysis tool). The implementation is demonstrated for a reconfiguration scenario involving the preservation of vital loads. The work presents many opportunities for future developments in the domain of resilient self-healing power grids.},\r\nkeywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  As distributed renewable generation sources continue to be integrated into the power grid, the concept of Microgrids has gained traction. Here, the integration challenge is not just in the control of an individual Microgrid but also in their coordination. This short communication presents a novel approach to inter-Microgrid coordination and control based upon Multi-Agent systems. An architecture based upon physical agents is presented and is implemented on a dual platform of JADE (environment for developing agents) and Matlab-Matpower (power system analysis tool). The implementation is demonstrated for a reconfiguration scenario involving the preservation of vital loads. The work presents many opportunities for future developments in the domain of resilient self-healing power grids.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"abdelhalim-farid-adegbege-youceftoumi-transientstabilityofpowersystemswithdifferentconfigurationsforwindpowerintegration-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6497903&amp;isnumber=6497783&amp;tag=1\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'abdelhalim-farid-adegbege-youceftoumi-transientstabilityofpowersystemswithdifferentconfigurationsforwindpowerintegration-2013', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6497903&amp;isnumber=6497783&amp;tag=1', event);\">\n    Transient Stability of Power Systems with Different Configurations for Wind Power Integration.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Abdelhalim, H. M; Farid, A. M; Adegbege, A. A;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES</i>,  2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6497903&amp;isnumber=6497783&amp;tag=1\"\n     onclick=\"log_download('abdelhalim-farid-adegbege-youceftoumi-transientstabilityofpowersystemswithdifferentconfigurationsforwindpowerintegration-2013', 'https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6497903&amp;isnumber=6497783&amp;tag=1', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Transient Stability of Power Systems with Different Configurations for Wind Power Integration [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ISGT.2013.6497903\"\n     onclick=\"log_download('abdelhalim-farid-adegbege-youceftoumi-transientstabilityofpowersystemswithdifferentconfigurationsforwindpowerintegration-2013', 'http://doi.org/10.1109/ISGT.2013.6497903', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/abdelhalim-farid-adegbege-youceftoumi-transientstabilityofpowersystemswithdifferentconfigurationsforwindpowerintegration-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('abdelhalim-farid-adegbege-youceftoumi-transientstabilityofpowersystemswithdifferentconfigurationsforwindpowerintegration-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_SG_Wind_Integration_Stability,\r\ntitle = {Transient Stability of Power Systems with Different Configurations for Wind Power Integration},\r\nauthor = {Hussein M Abdelhalim and Amro M Farid and Ambrose A Adegbege and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&amp;arnumber=6497903&amp;isnumber=6497783&amp;tag=1},\r\ndoi = {10.1109/ISGT.2013.6497903},\r\nyear  = {2013},\r\ndate = {2013-01-01},\r\nbooktitle = {Innovative Smart Grid Technologies (ISGT), 2013 IEEE PES},\r\nabstract = {Previous transient stability studies investigating the effects of wind power integration into a conventional power system assume the insertion point of the wind-generating units to be at the same bus and interconnection voltage as the synchronous generators they are substituting or complementing. While these assumptions offer some insights into the effects of the wind on the existing system, important points about the physical distance and interconnection voltage of wind farms with respect to the conventional power system are neglected. This paper analyzes the effects of integrating doubly-fed induction wind turbine generators through different transmission line configurations and at different buses. The IEEE 14-bus test system is used in order to compare results with previous works. Results show that connecting wind generators through transmission lines and to different buses introducesdelays in the speed dynamic responses of existing synchronous generators. These delays in turn affect the bus voltage oscillations. Results also show that there is no significant effect on the base cases when using different interconnection voltages to connect the wind. The results of this study can be used by power system operators when deciding how to connect wind farms to an existing power network when optimizing for stability response to a large fault. Overall, wind farms should be connected through additional transmission lines to buses near where synchronous generators are located and further away from loads and higher risk fault areas.},\r\nkeywords = {intelligent systems, Modelling; sizing and control of smart grids, Physical Systems Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Previous transient stability studies investigating the effects of wind power integration into a conventional power system assume the insertion point of the wind-generating units to be at the same bus and interconnection voltage as the synchronous generators they are substituting or complementing. While these assumptions offer some insights into the effects of the wind on the existing system, important points about the physical distance and interconnection voltage of wind farms with respect to the conventional power system are neglected. This paper analyzes the effects of integrating doubly-fed induction wind turbine generators through different transmission line configurations and at different buses. The IEEE 14-bus test system is used in order to compare results with previous works. Results show that connecting wind generators through transmission lines and to different buses introducesdelays in the speed dynamic responses of existing synchronous generators. These delays in turn affect the bus voltage oscillations. Results also show that there is no significant effect on the base cases when using different interconnection voltages to connect the wind. The results of this study can be used by power system operators when deciding how to connect wind farms to an existing power network when optimizing for stability response to a large fault. Overall, wind farms should be connected through additional transmission lines to buses near where synchronous generators are located and further away from loads and higher risk fault areas.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2012\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2012')\"\n      onkeypress=\"toggleGroup('group_2012')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2012</span>\n      <span class=\"bibbase_group_count\">\n        \n        (8)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"shapiro-mavalvala-youceftoumi-modaldampingofaquadruplependulumforadvancedgravitationalwavedetectors-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6315185\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'shapiro-mavalvala-youceftoumi-modaldampingofaquadruplependulumforadvancedgravitationalwavedetectors-2012', 'https://ieeexplore.ieee.org/document/6315185', event);\">\n    Modal damping of a quadruple pendulum for advanced gravitational wave detectors.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Shapiro, B.; Mavalvala, N.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2012 American Control Conference (ACC)</i>, pages 1017-1022,  2012. ACC, ACC\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6315185\"\n     onclick=\"log_download('shapiro-mavalvala-youceftoumi-modaldampingofaquadruplependulumforadvancedgravitationalwavedetectors-2012', 'https://ieeexplore.ieee.org/document/6315185', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modal damping of a quadruple pendulum for advanced gravitational wave detectors [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2012.6315185\"\n     onclick=\"log_download('shapiro-mavalvala-youceftoumi-modaldampingofaquadruplependulumforadvancedgravitationalwavedetectors-2012', 'http://doi.org/10.1109/ACC.2012.6315185', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/shapiro-mavalvala-youceftoumi-modaldampingofaquadruplependulumforadvancedgravitationalwavedetectors-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('shapiro-mavalvala-youceftoumi-modaldampingofaquadruplependulumforadvancedgravitationalwavedetectors-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_DDL_Gravity_Wave_Detectors,\r\ntitle = {Modal damping of a quadruple pendulum for advanced gravitational wave detectors},\r\nauthor = {Brett Shapiro and Nergis Mavalvala and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/6315185},\r\ndoi = {10.1109/ACC.2012.6315185},\r\nisbn = {978-1-4577-1096-4},\r\nyear  = {2012},\r\ndate = {2012-10-02},\r\nbooktitle = {2012 American Control Conference (ACC)},\r\npages = {1017-1022},\r\npublisher = {ACC},\r\norganization = {ACC},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Data-driven learning for intelligent machine maintanence, Experimentation, Fabrication, intelligent systems, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bozchalooi-youceftoumi-burns-fantner-avibrationsuppressionapproachtohighspeedatomicforcemicroscopy-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6315281\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bozchalooi-youceftoumi-burns-fantner-avibrationsuppressionapproachtohighspeedatomicforcemicroscopy-2012', 'https://ieeexplore.ieee.org/document/6315281', event);\">\n    A vibration suppression approach to high-speed atomic force microscopy.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bozchalooi, S. I; Youcef-Toumi, K.; Burns, D J;  and Fantner, G. E\n</span>\n\n  \n\n</span>\n\n  In <i>2012 American Control Conference (ACC)</i>, pages 3797-3802,  2012. ACC, ACC\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6315281\"\n     onclick=\"log_download('bozchalooi-youceftoumi-burns-fantner-avibrationsuppressionapproachtohighspeedatomicforcemicroscopy-2012', 'https://ieeexplore.ieee.org/document/6315281', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A vibration suppression approach to high-speed atomic force microscopy [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2012.6315281\"\n     onclick=\"log_download('bozchalooi-youceftoumi-burns-fantner-avibrationsuppressionapproachtohighspeedatomicforcemicroscopy-2012', 'http://doi.org/10.1109/ACC.2012.6315281', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bozchalooi-youceftoumi-burns-fantner-avibrationsuppressionapproachtohighspeedatomicforcemicroscopy-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bozchalooi-youceftoumi-burns-fantner-avibrationsuppressionapproachtohighspeedatomicforcemicroscopy-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Vibration_Suppression,\r\ntitle = {A vibration suppression approach to high-speed atomic force microscopy},\r\nauthor = {Soltani I Bozchalooi and Kamal Youcef-Toumi and D J Burns and Georg E Fantner},\r\nurl = {https://ieeexplore.ieee.org/document/6315281},\r\ndoi = {10.1109/ACC.2012.6315281},\r\nisbn = {978-1-4577-1096-4},\r\nyear  = {2012},\r\ndate = {2012-10-02},\r\nbooktitle = {2012 American Control Conference (ACC)},\r\npages = {3797-3802},\r\npublisher = {ACC},\r\norganization = {ACC},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Experimentation, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"khalifa-benmansour-youceftoumi-choi-characterizationofinpipeacousticwaveforwaterleakdetection-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2011/54945/995/355499\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'khalifa-benmansour-youceftoumi-choi-characterizationofinpipeacousticwaveforwaterleakdetection-2012', 'https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2011/54945/995/355499', event);\">\n    Characterization of In-Pipe Acoustic Wave for Water Leak Detection.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Khalifa, A. E; Ben-Mansour, R.; Youcef-Toumi, K.;  and Choi, C.\n</span>\n\n  \n\n</span>\n\n  In <i>ASME 2011 International Mechanical Engineering Congress and Exposition</i>, pages 995-1000,  2012. ACC, ACC\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2011/54945/995/355499\"\n     onclick=\"log_download('khalifa-benmansour-youceftoumi-choi-characterizationofinpipeacousticwaveforwaterleakdetection-2012', 'https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2011/54945/995/355499', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Characterization of In-Pipe Acoustic Wave for Water Leak Detection [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/IMECE2011-62333\"\n     onclick=\"log_download('khalifa-benmansour-youceftoumi-choi-characterizationofinpipeacousticwaveforwaterleakdetection-2012', 'http://doi.org/10.1115/IMECE2011-62333', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/khalifa-benmansour-youceftoumi-choi-characterizationofinpipeacousticwaveforwaterleakdetection-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('khalifa-benmansour-youceftoumi-choi-characterizationofinpipeacousticwaveforwaterleakdetection-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Acoustic_Wave_Pipe_Leakage,\r\ntitle = {Characterization of In-Pipe Acoustic Wave for Water Leak Detection},\r\nauthor = {Atia E Khalifa and Rached Ben-Mansour and Kamal Youcef-Toumi and Changrak Choi},\r\nurl = {https://asmedigitalcollection.asme.org/IMECE/proceedings/IMECE2011/54945/995/355499},\r\ndoi = {10.1115/IMECE2011-62333},\r\nisbn = {978-0-7918-5494-5},\r\nyear  = {2012},\r\ndate = {2012-08-01},\r\nbooktitle = {ASME 2011 International Mechanical Engineering Congress and Exposition},\r\npages = {995-1000},\r\npublisher = {ACC},\r\norganization = {ACC},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"benmansour-suara-youceftoumi-determinationofimportantflowcharacteristicsforleakdetectioninwaterpipelinesnetworks-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.dl.begellhouse.com/journals/648192910890cd0e,1c6ade0932d1248e,18dcce9156c09e65.html\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'benmansour-suara-youceftoumi-determinationofimportantflowcharacteristicsforleakdetectioninwaterpipelinesnetworks-2012', 'http://www.dl.begellhouse.com/journals/648192910890cd0e,1c6ade0932d1248e,18dcce9156c09e65.html', event);\">\n    Determination of important flow characteristics for leak detection in water pipelines-networks.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ben-Mansour, R.; Suara, K.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>Computational Thermal Sciences</i>, 5: 143-151.  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.dl.begellhouse.com/journals/648192910890cd0e,1c6ade0932d1248e,18dcce9156c09e65.html\"\n     onclick=\"log_download('benmansour-suara-youceftoumi-determinationofimportantflowcharacteristicsforleakdetectioninwaterpipelinesnetworks-2012', 'http://www.dl.begellhouse.com/journals/648192910890cd0e,1c6ade0932d1248e,18dcce9156c09e65.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Determination of important flow characteristics for leak detection in water pipelines-networks [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1615/ComputThermalScien.2013006301\"\n     onclick=\"log_download('benmansour-suara-youceftoumi-determinationofimportantflowcharacteristicsforleakdetectioninwaterpipelinesnetworks-2012', 'http://doi.org/10.1615/ComputThermalScien.2013006301', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/benmansour-suara-youceftoumi-determinationofimportantflowcharacteristicsforleakdetectioninwaterpipelinesnetworks-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('benmansour-suara-youceftoumi-determinationofimportantflowcharacteristicsforleakdetectioninwaterpipelinesnetworks-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Flow_Leak_Detection,\r\ntitle = {Determination of important flow characteristics for leak detection in water pipelines-networks},\r\nauthor = {Rached Ben-Mansour and Kabir Suara and Kamal Youcef-Toumi},\r\nurl = {http://www.dl.begellhouse.com/journals/648192910890cd0e,1c6ade0932d1248e,18dcce9156c09e65.html},\r\ndoi = {10.1615/ComputThermalScien.2013006301},\r\nissn = {143-151},\r\nyear  = {2012},\r\ndate = {2012-07-16},\r\njournal = {Computational Thermal Sciences},\r\nvolume = {5},\r\npages = {143-151},\r\npublisher = {begellhouse},\r\nabstract = {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 (&lt;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.},\r\nkeywords = {Control Theory, Inspection, Physical System Modeling, repair &amp;amp; intelligence for water distribution pipes, Robotics &amp;amp; Automation, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"choi-chatzigeorgiou-benmansour-youceftoumi-designandanalysisofnovelfrictioncontrollingmechanismwithminimalenergyforinpiperobotapplications-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/6225380\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'choi-chatzigeorgiou-benmansour-youceftoumi-designandanalysisofnovelfrictioncontrollingmechanismwithminimalenergyforinpiperobotapplications-2012', 'https://ieeexplore.ieee.org/document/6225380', event);\">\n    Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Choi, C; Chatzigeorgiou, D; Ben-Mansour, R;  and Youcef-Toumi, K\n</span>\n\n  \n\n</span>\n\n  In <i>2012 IEEE International Conference on Robotics and Automation</i>, pages 4118-4123,  2012. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/6225380\"\n     onclick=\"log_download('choi-chatzigeorgiou-benmansour-youceftoumi-designandanalysisofnovelfrictioncontrollingmechanismwithminimalenergyforinpiperobotapplications-2012', 'https://ieeexplore.ieee.org/document/6225380', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICRA.2012.6225380\"\n     onclick=\"log_download('choi-chatzigeorgiou-benmansour-youceftoumi-designandanalysisofnovelfrictioncontrollingmechanismwithminimalenergyforinpiperobotapplications-2012', 'http://doi.org/10.1109/ICRA.2012.6225380', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/choi-chatzigeorgiou-benmansour-youceftoumi-designandanalysisofnovelfrictioncontrollingmechanismwithminimalenergyforinpiperobotapplications-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('choi-chatzigeorgiou-benmansour-youceftoumi-designandanalysisofnovelfrictioncontrollingmechanismwithminimalenergyforinpiperobotapplications-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Friction_Minimization,\r\ntitle = {Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications},\r\nauthor = {C Choi and D Chatzigeorgiou and R Ben-Mansour and K Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/6225380},\r\ndoi = {10.1109/ICRA.2012.6225380},\r\nisbn = {978-1-4673-1405-3},\r\nyear  = {2012},\r\ndate = {2012-06-28},\r\nbooktitle = {2012 IEEE International Conference on Robotics and Automation},\r\npages = {4118-4123},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {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&#x27;s performance. In addition, a prototype of the mechanism was designed, fabricated and tested for validation.},\r\nkeywords = {Experimentation, Fabrication, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics and Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chatzigeorgiou-khalifa-youceftoumi-benmansour-aninpipeleakdetectionsensorsensingcapabilitiesandevaluation-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54808/481/351961\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chatzigeorgiou-khalifa-youceftoumi-benmansour-aninpipeleakdetectionsensorsensingcapabilitiesandevaluation-2012', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54808/481/351961', event);\">\n    An In-Pipe Leak Detection Sensor: Sensing Capabilities and Evaluation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chatzigeorgiou, D. M; Khalifa, A. E; Youcef-Toumi, K.;  and Ben-Mansour, R.\n</span>\n\n  \n\n</span>\n\n  In <i>ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference</i>, pages 481-489,  2012. ACC, ACC\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54808/481/351961\"\n     onclick=\"log_download('chatzigeorgiou-khalifa-youceftoumi-benmansour-aninpipeleakdetectionsensorsensingcapabilitiesandevaluation-2012', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54808/481/351961', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An In-Pipe Leak Detection Sensor: Sensing Capabilities and Evaluation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DETC2011-48411\"\n     onclick=\"log_download('chatzigeorgiou-khalifa-youceftoumi-benmansour-aninpipeleakdetectionsensorsensingcapabilitiesandevaluation-2012', 'http://doi.org/10.1115/DETC2011-48411', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chatzigeorgiou-khalifa-youceftoumi-benmansour-aninpipeleakdetectionsensorsensingcapabilitiesandevaluation-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chatzigeorgiou-khalifa-youceftoumi-benmansour-aninpipeleakdetectionsensorsensingcapabilitiesandevaluation-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Leak_Capability_Sensor,\r\ntitle = {An In-Pipe Leak Detection Sensor: Sensing Capabilities and Evaluation},\r\nauthor = {Dimitris M Chatzigeorgiou and Atia E Khalifa and Kamal Youcef-Toumi and Rached Ben-Mansour},\r\nurl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54808/481/351961},\r\ndoi = {10.1115/DETC2011-48411},\r\nisbn = {978-0-7918-5480-8},\r\nyear  = {2012},\r\ndate = {2012-06-12},\r\nbooktitle = {ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},\r\npages = {481-489},\r\npublisher = {ACC},\r\norganization = {ACC},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chatzigeorgiou-youceftoumi-khalifa-benmansour-analysisanddesignofaninpipesystemforwaterleakdetection-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54822/1007/353866\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chatzigeorgiou-youceftoumi-khalifa-benmansour-analysisanddesignofaninpipesystemforwaterleakdetection-2012', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54822/1007/353866', event);\">\n    Analysis and Design of an In-Pipe System for Water Leak Detection.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chatzigeorgiou, D. M; Youcef-Toumi, K.; Khalifa, A. E;  and Ben-Mansour, R.\n</span>\n\n  \n\n</span>\n\n  In <i>ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference</i>, pages 1007-1016,  2012. ASME, ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54822/1007/353866\"\n     onclick=\"log_download('chatzigeorgiou-youceftoumi-khalifa-benmansour-analysisanddesignofaninpipesystemforwaterleakdetection-2012', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54822/1007/353866', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Analysis and Design of an In-Pipe System for Water Leak Detection [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DETC2011-48395\"\n     onclick=\"log_download('chatzigeorgiou-youceftoumi-khalifa-benmansour-analysisanddesignofaninpipesystemforwaterleakdetection-2012', 'http://doi.org/10.1115/DETC2011-48395', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chatzigeorgiou-youceftoumi-khalifa-benmansour-analysisanddesignofaninpipesystemforwaterleakdetection-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chatzigeorgiou-youceftoumi-khalifa-benmansour-analysisanddesignofaninpipesystemforwaterleakdetection-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Design_Water_Leak_Detection,\r\ntitle = {Analysis and Design of an In-Pipe System for Water Leak Detection},\r\nauthor = {Dimitris M Chatzigeorgiou and Kamal Youcef-Toumi and Atia E Khalifa and Rached Ben-Mansour},\r\nurl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2011/54822/1007/353866},\r\ndoi = {10.1115/DETC2011-48395},\r\nisbn = {978-0-7918-5482-2},\r\nyear  = {2012},\r\ndate = {2012-06-12},\r\nbooktitle = {ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},\r\npages = {1007-1016},\r\npublisher = {ASME},\r\norganization = {ASME},\r\nabstract = {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.},\r\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"benmansour-habib-khalifa-youceftoumi-chatzigeorgiou-computationalfluiddynamicsimulationofsmallleaksinwaterpipelinesfordirectleakpressuretransduction-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0045793011003884\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'benmansour-habib-khalifa-youceftoumi-chatzigeorgiou-computationalfluiddynamicsimulationofsmallleaksinwaterpipelinesfordirectleakpressuretransduction-2012', 'https://www.sciencedirect.com/science/article/pii/S0045793011003884', event);\">\n    Computational fluid dynamic simulation of small leaks in water pipelines for direct leak pressure transduction.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Ben-Mansour, R; Habib, M A; Khalifa, A; Youcef-Toumi, K;  and Chatzigeorgiou, D\n</span>\n\n  \n\n</span>\n\n  <i>Computers & Fluids</i>, 57: 110-123.  2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0045793011003884\"\n     onclick=\"log_download('benmansour-habib-khalifa-youceftoumi-chatzigeorgiou-computationalfluiddynamicsimulationofsmallleaksinwaterpipelinesfordirectleakpressuretransduction-2012', 'https://www.sciencedirect.com/science/article/pii/S0045793011003884', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Computational fluid dynamic simulation of small leaks in water pipelines for direct leak pressure transduction [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.compfluid.2011.12.016\"\n     onclick=\"log_download('benmansour-habib-khalifa-youceftoumi-chatzigeorgiou-computationalfluiddynamicsimulationofsmallleaksinwaterpipelinesfordirectleakpressuretransduction-2012', 'http://doi.org/https://doi.org/10.1016/j.compfluid.2011.12.016', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/benmansour-habib-khalifa-youceftoumi-chatzigeorgiou-computationalfluiddynamicsimulationofsmallleaksinwaterpipelinesfordirectleakpressuretransduction-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('benmansour-habib-khalifa-youceftoumi-chatzigeorgiou-computationalfluiddynamicsimulationofsmallleaksinwaterpipelinesfordirectleakpressuretransduction-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Dynamic_Simulation_Leak_Pipe,\r\ntitle = {Computational fluid dynamic simulation of small leaks in water pipelines for direct leak pressure transduction},\r\nauthor = {R Ben-Mansour and M A Habib and A Khalifa and K Youcef-Toumi and D Chatzigeorgiou},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S0045793011003884},\r\ndoi = {https://doi.org/10.1016/j.compfluid.2011.12.016},\r\nissn = {0045-7930},\r\nyear  = {2012},\r\ndate = {2012-03-30},\r\njournal = {Computers &amp; Fluids},\r\nvolume = {57},\r\npages = {110-123},\r\npublisher = {Science Direct},\r\nabstract = {Computational fluid dynamic simulation of small leaks in a pipe having 0.1m diameter has been performed under realistic velocities and pressures using a 3D turbulent flow model of well tested CFD code. The steady state simulations have shown clear signature in the pressure and pressure gradient variations along the pipe. For very small leaks (below 1l/min), this signature in not very strong in the pressure variation, but very clear in the pressure gradient. The averaged power spectral density (PSD) as well as FFT of the pressure fluctuations based on transient Detached Eddy Simulations (DESs) are presented for different locations around the leak position. These results show that the presence of a leak causes measurable differences in the magnitude and frequency of the pressure signal spectrum and also in the averaged PSD for the range of 220–500Hz frequency.},\r\nkeywords = {Control Theory, Inspection, Physical System Modeling, repair &amp;amp; intelligence for water distribution pipes, Robotics &amp;amp; Automation, Simulation},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Computational fluid dynamic simulation of small leaks in a pipe having 0.1m diameter has been performed under realistic velocities and pressures using a 3D turbulent flow model of well tested CFD code. The steady state simulations have shown clear signature in the pressure and pressure gradient variations along the pipe. For very small leaks (below 1l/min), this signature in not very strong in the pressure variation, but very clear in the pressure gradient. The averaged power spectral density (PSD) as well as FFT of the pressure fluctuations based on transient Detached Eddy Simulations (DESs) are presented for different locations around the leak position. These results show that the presence of a leak causes measurable differences in the magnitude and frequency of the pressure signal spectrum and also in the averaged PSD for the range of 220–500Hz frequency.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2011\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2011')\"\n      onkeypress=\"toggleGroup('group_2011')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2011</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"shilpiekandula-youceftoumi-integrateddesignandcontrolofflexurebasednanopositioningsystemspartimethodology-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S1474667016451232\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'shilpiekandula-youceftoumi-integrateddesignandcontrolofflexurebasednanopositioningsystemspartimethodology-2011', 'https://www.sciencedirect.com/science/article/pii/S1474667016451232', event);\">\n    Integrated Design and Control of Flexure-Based Nanopositioning Systems — Part I: Methodology.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Shilpiekandula, V.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In volume 44, pages 9406-9412,  2011. IFAC\n  <span class=\"note\">18th IFAC World Congress</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S1474667016451232\"\n     onclick=\"log_download('shilpiekandula-youceftoumi-integrateddesignandcontrolofflexurebasednanopositioningsystemspartimethodology-2011', 'https://www.sciencedirect.com/science/article/pii/S1474667016451232', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Integrated Design and Control of Flexure-Based Nanopositioning Systems — Part I: Methodology [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.3182/20110828-6-IT-1002.03796\"\n     onclick=\"log_download('shilpiekandula-youceftoumi-integrateddesignandcontrolofflexurebasednanopositioningsystemspartimethodology-2011', 'http://doi.org/https://doi.org/10.3182/20110828-6-IT-1002.03796', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/shilpiekandula-youceftoumi-integrateddesignandcontrolofflexurebasednanopositioningsystemspartimethodology-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('shilpiekandula-youceftoumi-integrateddesignandcontrolofflexurebasednanopositioningsystemspartimethodology-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_Flexure_Nanopositioning_Methodology,\r\ntitle = {Integrated Design and Control of Flexure-Based Nanopositioning Systems — Part I: Methodology},\r\nauthor = {Vijay Shilpiekandula and Kamal Youcef-Toumi},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S1474667016451232},\r\ndoi = {https://doi.org/10.3182/20110828-6-IT-1002.03796},\r\nissn = {1474-6670},\r\nyear  = {2011},\r\ndate = {2011-09-01},\r\njournal = {IFAC Proceedings Volumes},\r\nvolume = {44},\r\nnumber = {1},\r\npages = {9406-9412},\r\npublisher = {IFAC},\r\nabstract = {Abstract \r\nFlexure-based mechanisms, also referred to as flexures, are widely being used as motion-guidance, or bearing, elements in applications requiring multi-degree-of-freedom positioning and alignment. Unlike friction-bearings (such as sliding or rolling contact bearings), flexures can be designed to offer, to a large extent, reliable linear elastic motion with a high resolution (on the order of nanometers) over small ranges of motion (on order of micrometers). Example applications include positioning a probe or sample in atomic force microscopy, alignment of tool and sample in stamping processes, and fine-positioning of wafers and masks in semiconductor manufacturing. These applications are often required satisfy critical functional requirements, such as load-capacity, bandwidth, resolution, and range. A systematic approach is needed to simultaneously address the design and control challenges involved, starting from the initial design concept generation stage to the final control implementation and testing. In this paper, we present an integrated design and control method for implementing flexure-based nanopositioning systems. We discuss the need for varying design topology and order of a controller in design and control optimization. An automation engine generates a set of flexure-based design topologies and also controllers of varying order in the optimization. A simple 1-DOF example is worked out to illustrate the steps involved in using this methodology. The outcome of the exercise is a novel design topology, with it shape and size optimized, and a controller synthesized such that a desired control bandwidth and design requirements of strength and modal separation are met.},\r\nnote = {18th IFAC World Congress},\r\nkeywords = {Control Theory, Mechatronic Design, Nanotechnology, Physical System Modeling, Robot operated modular fixtures, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Abstract Flexure-based mechanisms, also referred to as flexures, are widely being used as motion-guidance, or bearing, elements in applications requiring multi-degree-of-freedom positioning and alignment. Unlike friction-bearings (such as sliding or rolling contact bearings), flexures can be designed to offer, to a large extent, reliable linear elastic motion with a high resolution (on the order of nanometers) over small ranges of motion (on order of micrometers). Example applications include positioning a probe or sample in atomic force microscopy, alignment of tool and sample in stamping processes, and fine-positioning of wafers and masks in semiconductor manufacturing. These applications are often required satisfy critical functional requirements, such as load-capacity, bandwidth, resolution, and range. A systematic approach is needed to simultaneously address the design and control challenges involved, starting from the initial design concept generation stage to the final control implementation and testing. In this paper, we present an integrated design and control method for implementing flexure-based nanopositioning systems. We discuss the need for varying design topology and order of a controller in design and control optimization. An automation engine generates a set of flexure-based design topologies and also controllers of varying order in the optimization. A simple 1-DOF example is worked out to illustrate the steps involved in using this methodology. The outcome of the exercise is a novel design topology, with it shape and size optimized, and a controller synthesized such that a desired control bandwidth and design requirements of strength and modal separation are met.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"shapiro-mavalvala-youceftoumi-actuatorsizingofaquadruplependulumforadvancedgravitationalwavedetectors-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/5991170\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'shapiro-mavalvala-youceftoumi-actuatorsizingofaquadruplependulumforadvancedgravitationalwavedetectors-2011', 'https://ieeexplore.ieee.org/document/5991170', event);\">\n    Actuator sizing of a quadruple pendulum for advanced gravitational wave detectors.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Shapiro, B.; Mavalvala, N.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2011 American Control Conference</i>, pages 1358-1363,  2011. ACC, ACC\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/5991170\"\n     onclick=\"log_download('shapiro-mavalvala-youceftoumi-actuatorsizingofaquadruplependulumforadvancedgravitationalwavedetectors-2011', 'https://ieeexplore.ieee.org/document/5991170', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Actuator sizing of a quadruple pendulum for advanced gravitational wave detectors [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2011.5991170\"\n     onclick=\"log_download('shapiro-mavalvala-youceftoumi-actuatorsizingofaquadruplependulumforadvancedgravitationalwavedetectors-2011', 'http://doi.org/10.1109/ACC.2011.5991170', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/shapiro-mavalvala-youceftoumi-actuatorsizingofaquadruplependulumforadvancedgravitationalwavedetectors-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('shapiro-mavalvala-youceftoumi-actuatorsizingofaquadruplependulumforadvancedgravitationalwavedetectors-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_DDL_Actuator_Sizing_Pendulum,\r\ntitle = {Actuator sizing of a quadruple pendulum for advanced gravitational wave detectors},\r\nauthor = {Brett Shapiro and Nergis Mavalvala and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/5991170},\r\ndoi = {10.1109/ACC.2011.5991170},\r\nisbn = {978-1-4577-0081-1},\r\nyear  = {2011},\r\ndate = {2011-08-18},\r\nbooktitle = {Proceedings of the 2011 American Control Conference},\r\npages = {1358-1363},\r\npublisher = {ACC},\r\norganization = {ACC},\r\nabstract = {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&#x27;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.},\r\nkeywords = {Control Theory, Data-driven learning for intelligent machine maintanence, Experimentation, Fabrication, intelligent systems, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nia-han-li-bozchalooi-hung-frank-youceftoumi-grodzinsky-etal-theeffectofgagdepletiononcartilagenanoscalehydraulicpermeability-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.ors.org/Transactions/58/0282.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'nia-han-li-bozchalooi-hung-frank-youceftoumi-grodzinsky-etal-theeffectofgagdepletiononcartilagenanoscalehydraulicpermeability-2011', 'http://www.ors.org/Transactions/58/0282.pdf', event);\">\n    The effect of GAG depletion on cartilage nanoscale hydraulic permeability.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Nia, T. H; Han, L; Li, Y; Bozchalooi, S. I; Hung, H; Frank, E; Youcef-Toumi, K; Grodzinsky, A;  and Orti, C\n</span>\n\n  \n\n</span>\n\n  In <i>ORS 2012 Annual Meeting</i>, pages 0282,  2011. ORS, ORS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.ors.org/Transactions/58/0282.pdf\"\n     onclick=\"log_download('nia-han-li-bozchalooi-hung-frank-youceftoumi-grodzinsky-etal-theeffectofgagdepletiononcartilagenanoscalehydraulicpermeability-2011', 'http://www.ors.org/Transactions/58/0282.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The effect of GAG depletion on cartilage nanoscale hydraulic permeability [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ACC.2012.6315281\"\n     onclick=\"log_download('nia-han-li-bozchalooi-hung-frank-youceftoumi-grodzinsky-etal-theeffectofgagdepletiononcartilagenanoscalehydraulicpermeability-2011', 'http://doi.org/10.1109/ACC.2012.6315281', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nia-han-li-bozchalooi-hung-frank-youceftoumi-grodzinsky-etal-theeffectofgagdepletiononcartilagenanoscalehydraulicpermeability-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nia-han-li-bozchalooi-hung-frank-youceftoumi-grodzinsky-etal-theeffectofgagdepletiononcartilagenanoscalehydraulicpermeability-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_AFM_GAG_Depletion,\r\ntitle = {The effect of GAG depletion on cartilage nanoscale hydraulic permeability},\r\nauthor = {Tavakoli H Nia and L Han and Y Li and Soltani I Bozchalooi and H Hung and E Frank and K Youcef-Toumi and A Grodzinsky and C Orti},\r\nurl = {http://www.ors.org/Transactions/58/0282.pdf},\r\ndoi = {10.1109/ACC.2012.6315281},\r\nisbn = {978-1-4577-1096-4},\r\nyear  = {2011},\r\ndate = {2011-01-01},\r\nbooktitle = {ORS 2012 Annual Meeting},\r\npages = {0282},\r\npublisher = {ORS},\r\norganization = {ORS},\r\nabstract = {The advent of new time-dependent nanomechanical methods has recently enabled the quantification of cartilage tissue poroelasticity and hydraulic permeability, k, at the nanoscale [1-3] and holds great potential for early detection of pathological changes and diagnosis of osteoarthritis (OA). It is known that at the macroscale, tissue hydraulic permeability can undergo several order-of-magnitude changes due to OA [4] while the equilibrium stiffness may vary by only a factor of 2 [5]. This is because GAG chains are the main determinant of the pore size (consequently, hydraulic permeability) of cartilage while they contribute only partially to the compression stiffness of the tissue. Here, we extend the technique of atomic force microscope-based dynamic oscillatory nanoindentation to a larger frequency range (1-10,000 Hz) and compare these data to finite element analysis simulations to study the effect of GAG content, relevant to early stage OA.},\r\nkeywords = {Control Theory, Instrumentation, Nanoscale video imaging for dynamic process visualization, Nanotechnology, Physical System Modeling, Simulation},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The advent of new time-dependent nanomechanical methods has recently enabled the quantification of cartilage tissue poroelasticity and hydraulic permeability, k, at the nanoscale [1-3] and holds great potential for early detection of pathological changes and diagnosis of osteoarthritis (OA). It is known that at the macroscale, tissue hydraulic permeability can undergo several order-of-magnitude changes due to OA [4] while the equilibrium stiffness may vary by only a factor of 2 [5]. This is because GAG chains are the main determinant of the pore size (consequently, hydraulic permeability) of cartilage while they contribute only partially to the compression stiffness of the tissue. Here, we extend the technique of atomic force microscope-based dynamic oscillatory nanoindentation to a larger frequency range (1-10,000 Hz) and compare these data to finite element analysis simulations to study the effect of GAG content, relevant to early stage OA.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2010\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2010')\"\n      onkeypress=\"toggleGroup('group_2010')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2010</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"yalvarado-chin-larson-mazumdar-youceftoumi-asoftbodyunderactuatedapproachtomultidegreeoffreedombiomimeticrobotsastingrayexample-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/5627803\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yalvarado-chin-larson-mazumdar-youceftoumi-asoftbodyunderactuatedapproachtomultidegreeoffreedombiomimeticrobotsastingrayexample-2010', 'https://ieeexplore.ieee.org/document/5627803', event);\">\n    A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  y Alvarado, P. V.; Chin, S.; Larson, W.; Mazumdar, A.;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  In <i>2010 3rd IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics</i>, pages 473-478,  2010. IEEE, IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/5627803\"\n     onclick=\"log_download('yalvarado-chin-larson-mazumdar-youceftoumi-asoftbodyunderactuatedapproachtomultidegreeoffreedombiomimeticrobotsastingrayexample-2010', 'https://ieeexplore.ieee.org/document/5627803', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/BIOROB.2010.5627803\"\n     onclick=\"log_download('yalvarado-chin-larson-mazumdar-youceftoumi-asoftbodyunderactuatedapproachtomultidegreeoffreedombiomimeticrobotsastingrayexample-2010', 'http://doi.org/10.1109/BIOROB.2010.5627803', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yalvarado-chin-larson-mazumdar-youceftoumi-asoftbodyunderactuatedapproachtomultidegreeoffreedombiomimeticrobotsastingrayexample-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yalvarado-chin-larson-mazumdar-youceftoumi-asoftbodyunderactuatedapproachtomultidegreeoffreedombiomimeticrobotsastingrayexample-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_BRF_Multi_DOF_Stingray,\r\ntitle = {A soft body under-actuated approach to multi degree of freedom biomimetic robots: A stingray example},\r\nauthor = {Pablo Valdivia y Alvarado and Stephanie Chin and Winston Larson and Anirban Mazumdar and Kamal Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/5627803},\r\ndoi = {10.1109/BIOROB.2010.5627803},\r\nisbn = {978-1-4244-7709-8},\r\nyear  = {2010},\r\ndate = {2010-11-11},\r\nbooktitle = {2010 3rd IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics},\r\npages = {473-478},\r\npublisher = {IEEE},\r\norganization = {IEEE},\r\nabstract = {In this paper we present a new application of the methodology our group is developing to design and prototype under-actuated biomimetic robots by determining appropriate body material property distributions. When excited, flexible bodies with proper anisotropic material distributions display modes of vibration that mimic required locomotion kinematics and require minimal actuation. Our previous prototypes explored simple two dimensional applications for fish-like swimming. In this paper, the three dimensional vibrational kinematics of a stingray are explored. A simple design is explained, and corresponding prototypes are presented along with preliminary performance data. Our methodology shows great promise to develop simple, robust, and inexpensive mobile robots that can efficiently accomplish locomotion.},\r\nkeywords = {Biomimetic robotic fish for underwater monitoring, Experimentation, Mechatronic Design, Physical System Modeling, Robotics and Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this paper we present a new application of the methodology our group is developing to design and prototype under-actuated biomimetic robots by determining appropriate body material property distributions. When excited, flexible bodies with proper anisotropic material distributions display modes of vibration that mimic required locomotion kinematics and require minimal actuation. Our previous prototypes explored simple two dimensional applications for fish-like swimming. In this paper, the three dimensional vibrational kinematics of a stingray are explored. A simple design is explained, and corresponding prototypes are presented along with preliminary performance data. Our methodology shows great promise to develop simple, robust, and inexpensive mobile robots that can efficiently accomplish locomotion.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chatzigeorgiou-kumar-khalifa-deshpande-youceftoumi-sarma-benmansour-inpipeacousticcharacterizationofleaksignalsinplasticwaterfilledpipes-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.researchgate.net/publication/277303127_In-pipe_Acoustic_Characterization_of_Leak_Signals_in_Plastic_Water-filled_Pipes\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chatzigeorgiou-kumar-khalifa-deshpande-youceftoumi-sarma-benmansour-inpipeacousticcharacterizationofleaksignalsinplasticwaterfilledpipes-2010', 'https://www.researchgate.net/publication/277303127_In-pipe_Acoustic_Characterization_of_Leak_Signals_in_Plastic_Water-filled_Pipes', event);\">\n    In-pipe Acoustic Characterization of Leak Signals in Plastic Water-filled Pipes.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Chatzigeorgiou, D. M; Kumar, S.; Khalifa, A. E; Deshpande, A.; Youcef-Toumi, K.; Sarma, S.;  and Ben-Mansour, R.\n</span>\n\n  \n\n</span>\n\n  In <i>AWWA Annual Conference and Exposition (ACE) 2010</i>,  2010. AWWA, AWWA\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.researchgate.net/publication/277303127_In-pipe_Acoustic_Characterization_of_Leak_Signals_in_Plastic_Water-filled_Pipes\"\n     onclick=\"log_download('chatzigeorgiou-kumar-khalifa-deshpande-youceftoumi-sarma-benmansour-inpipeacousticcharacterizationofleaksignalsinplasticwaterfilledpipes-2010', 'https://www.researchgate.net/publication/277303127_In-pipe_Acoustic_Characterization_of_Leak_Signals_in_Plastic_Water-filled_Pipes', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"In-pipe Acoustic Characterization of Leak Signals in Plastic Water-filled Pipes [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chatzigeorgiou-kumar-khalifa-deshpande-youceftoumi-sarma-benmansour-inpipeacousticcharacterizationofleaksignalsinplasticwaterfilledpipes-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chatzigeorgiou-kumar-khalifa-deshpande-youceftoumi-sarma-benmansour-inpipeacousticcharacterizationofleaksignalsinplasticwaterfilledpipes-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{MRL_WDP_Acoustic_Leak_Signals,\r\ntitle = {In-pipe Acoustic Characterization of Leak Signals in Plastic Water-filled Pipes},\r\nauthor = {Dimitris M Chatzigeorgiou and Sumeet Kumar and Atia E Khalifa and Ajay Deshpande and Kamal Youcef-Toumi and Sanjay Sarma and Rached Ben-Mansour},\r\nurl = {https://www.researchgate.net/publication/277303127_In-pipe_Acoustic_Characterization_of_Leak_Signals_in_Plastic_Water-filled_Pipes},\r\nyear  = {2010},\r\ndate = {2010-01-01},\r\nbooktitle = {AWWA Annual Conference and Exposition (ACE) 2010},\r\npublisher = {AWWA},\r\norganization = {AWWA},\r\nabstract = {Acoustic emissions can be sensed to identify and localize leaks in water pipes. Leak noise correlators and listening devices have been reported in literature as successful approaches to leak detection but they have practical limitations in terms of cost, sensitivity, reliability and scalability. A possible efficient solution is the development of an in-pipe traveling leak detection system. It has been reported that in-pipe sensing is more accurate and efficient since the sensing element can be very close to the sound source. Currently in-pipe approaches are limited to large leaks and larger diameter pipes. Development of such a system requires clear understanding of acoustic signals generated from leaks and their variation with different pipe loading conditions, leak sizes and surrounding media. This paper discusses the acoustic characterization of leak signals in controlled environments. A lab experimental setup was designed and built in which measurements were taken from inside 4 inch PVC water pipes using a hydrophone. Signals were collected for a wide range of conditions: different pressures and leak flow rates to better understand the leak signal signatures. Experiments were conducted with different pipe connecting elements like valves and junctions, and different external conditions such as pipes placed in water, air and soil. Signals were collected at various distances from the leak location (upstream and downstream) to understand the opportunities of spatial cross-correlation techniques in localizing leaks and the effect of sensor position on the signal. Characterizations of different datasets are presented in frequency domain. The implications of acoustic characterization on the design of algorithms for leak detection are discussed and a simple algorithm to decide whether or not a leak is present near the sensor location is proposed, based on signal power calculations. The characterization gives insights, which will pave ways for the development of smart, autonomous pipe-traversing systems capable of detecting and localizing leaks on a city level water distribution network.},\r\nkeywords = {Algorithms, Computational Intelligence, Inspection; repair and intelligence for water distribution pipes, Physical System Modeling, Robotics &amp;amp; Automation, Simulation, Visualization},\r\npubstate = {published},\r\ntppubtype = {inproceedings}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Acoustic emissions can be sensed to identify and localize leaks in water pipes. Leak noise correlators and listening devices have been reported in literature as successful approaches to leak detection but they have practical limitations in terms of cost, sensitivity, reliability and scalability. A possible efficient solution is the development of an in-pipe traveling leak detection system. It has been reported that in-pipe sensing is more accurate and efficient since the sensing element can be very close to the sound source. Currently in-pipe approaches are limited to large leaks and larger diameter pipes. Development of such a system requires clear understanding of acoustic signals generated from leaks and their variation with different pipe loading conditions, leak sizes and surrounding media. This paper discusses the acoustic characterization of leak signals in controlled environments. A lab experimental setup was designed and built in which measurements were taken from inside 4 inch PVC water pipes using a hydrophone. Signals were collected for a wide range of conditions: different pressures and leak flow rates to better understand the leak signal signatures. Experiments were conducted with different pipe connecting elements like valves and junctions, and different external conditions such as pipes placed in water, air and soil. Signals were collected at various distances from the leak location (upstream and downstream) to understand the opportunities of spatial cross-correlation techniques in localizing leaks and the effect of sensor position on the signal. Characterizations of different datasets are presented in frequency domain. The implications of acoustic characterization on the design of algorithms for leak detection are discussed and a simple algorithm to decide whether or not a leak is present near the sensor location is proposed, based on signal power calculations. The characterization gives insights, which will pave ways for the development of smart, autonomous pipe-traversing systems capable of detecting and localizing leaks on a city level water distribution network.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_1979\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_1979')\"\n      onkeypress=\"toggleGroup('group_1979')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>1979</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"muzhikyan-farid-youceftoumi-anapriorianalyticalmethodforthedeterminationofoperatingreserverequirements-1979\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0142061515300089\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'muzhikyan-farid-youceftoumi-anapriorianalyticalmethodforthedeterminationofoperatingreserverequirements-1979', 'https://www.sciencedirect.com/science/article/pii/S0142061515300089', event);\">\n    An a priori analytical method for the determination of operating reserve requirements.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Muzhikyan, A.; Farid, A. M;  and Youcef-Toumi, K.\n</span>\n\n  \n\n</span>\n\n  <i>International Journal of Electrical Power & Energy Systems</i>, 86: 1-17.  1979.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sciencedirect.com/science/article/pii/S0142061515300089\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-anapriorianalyticalmethodforthedeterminationofoperatingreserverequirements-1979', 'https://www.sciencedirect.com/science/article/pii/S0142061515300089', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An a priori analytical method for the determination of operating reserve requirements [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1016/j.ijepes.2016.09.005\"\n     onclick=\"log_download('muzhikyan-farid-youceftoumi-anapriorianalyticalmethodforthedeterminationofoperatingreserverequirements-1979', 'http://doi.org/https://doi.org/10.1016/j.ijepes.2016.09.005', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/muzhikyan-farid-youceftoumi-anapriorianalyticalmethodforthedeterminationofoperatingreserverequirements-1979\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('muzhikyan-farid-youceftoumi-anapriorianalyticalmethodforthedeterminationofoperatingreserverequirements-1979')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Priori_Operating_Requirements,\r\ntitle = {An a priori analytical method for the determination of operating reserve requirements},\r\nauthor = {Aramazd Muzhikyan and Amro M Farid and Kamal Youcef-Toumi},\r\nurl = {https://www.sciencedirect.com/science/article/pii/S0142061515300089},\r\ndoi = {https://doi.org/10.1016/j.ijepes.2016.09.005},\r\nissn = {0142-0615},\r\nyear  = {1979},\r\ndate = {1979-04-01},\r\njournal = {International Journal of Electrical Power &amp; Energy Systems},\r\nvolume = {86},\r\npages = {1-17},\r\npublisher = {ScienceDirect},\r\nabstract = {Power balance is one of the key requirements for reliable power system operation. However, factors, such as net load variability and forecast errors, impose practical limitations on matching the scheduled generation and the real-time demand. Normally, potential power imbalances are mitigated by scheduling additional generation capacity called operating reserves. However, reserves are a costly commodity and their requirements should be accurately assessed to avoid unnecessary expense. Currently, the reserve requirements are determined using a posteriori methods based upon operator’s experience and established assumptions. While these assumptions are made out of a level of engineering practicality, they may not be formally true given the numerical evidence. This paper presents a formal mathematical framework for the a priori determination of three types of operating reserve requirements, namely load following, ramping and regulation. Validation of the methodology is performed by a set of extensive simulations that model the power system operations for different scenarios. This methodology is used to study the sensitivity of each type of reserve requirement to the net load and power system parameters.},\r\nkeywords = {Algorithms, Computational Intelligence, intelligent systems, Physical System Modeling, Simulation, Uncertainty estimation and calibration for modeling},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Power balance is one of the key requirements for reliable power system operation. However, factors, such as net load variability and forecast errors, impose practical limitations on matching the scheduled generation and the real-time demand. Normally, potential power imbalances are mitigated by scheduling additional generation capacity called operating reserves. However, reserves are a costly commodity and their requirements should be accurately assessed to avoid unnecessary expense. Currently, the reserve requirements are determined using a posteriori methods based upon operator’s experience and established assumptions. While these assumptions are made out of a level of engineering practicality, they may not be formally true given the numerical evidence. This paper presents a formal mathematical framework for the a priori determination of three types of operating reserve requirements, namely load following, ramping and regulation. Validation of the methodology is performed by a set of extensive simulations that model the power system operations for different scenarios. This methodology is used to study the sensitivity of each type of reserve requirement to the net load and power system parameters.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_undefined\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_undefined')\"\n      onkeypress=\"toggleGroup('group_undefined')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>undefined</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/8466119\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth', 'https://ieeexplore.ieee.org/document/8466119', event);\">\n    Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Yang, C; Li, C; Xia, F; Zhu, Y; Zhao, J;  and Youcef-Toumi, K\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Industrial Electronics</i>, 66(7): 5392-5402.  .\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8466119\"\n     onclick=\"log_download('yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth', 'https://ieeexplore.ieee.org/document/8466119', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TIE.2018.2868321\"\n     onclick=\"log_download('yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth', 'http://doi.org/10.1109/TIE.2018.2868321', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('yang-li-xia-zhu-zhao-youceftoumi-chargecontrollerwithdecoupledandselfcompensatingconfigurationsforlinearoperationofpiezoelectricactuatorsinawidebandwidth')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{MRL_AFM_Charge_Controller_Compensating_Configs,\r\ntitle = {Charge Controller With Decoupled and Self-Compensating Configurations for Linear Operation of Piezoelectric Actuators in a Wide Bandwidth},\r\nauthor = {C Yang and C Li and F Xia and Y Zhu and J Zhao and K Youcef-Toumi},\r\nurl = {https://ieeexplore.ieee.org/document/8466119},\r\ndoi = {10.1109/TIE.2018.2868321},\r\nissn = {1557-9948},\r\njournal = {IEEE Transactions on Industrial Electronics},\r\nvolume = {66},\r\nnumber = {7},\r\npages = {5392-5402},\r\nabstract = {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.},\r\nkeywords = {Control Theory, Instrumentation, Nanotechnology, Physical System Modeling, Robot operated modular fixtures, Visualization},\r\npubstate = {published},\r\ntppubtype = {article}\r\n}\r\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);