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6th International Youth Conference on Radio Electronics, Electrical and Power engineering, REEPE 2024

作者： Hemid, Mohamed Alattar, Basil Ghommem, Mehdi Ahmed, Alaaeldin Abdel-Rahman, Eihab Sabouni, Rana Mechatronics Graduate Program American University of Sharjah Sharjah United Arab Emirates American University of Sharjah Mechanical Engineering Department Sharjah United Arab Emirates Systems Design Engineering University of Waterloo Ontario Canada American University of Sharjah Chemical Engineering Department Sharjah United Arab Emirates

ISBN: (纸本)9798350382891

This paper introduces an experimental method to detect the motion of an electrostatic Micro-Electro-Mechanical Systems (MEMS) resonator in aqueous media. The resonator comprises a micro cantilever beam subject to electrostatic actuation through a side electrode. A Finite Element Method (FEM) model of the resonator is developed to determine the in-plane mode shapes and their natural frequencies in order to facilitate the experimental study. The motion of the resonator lead to variations in its capacitance and induce a current. The developed experiments demonstrate that motion-induced current can be measured and analyzed to detect the motion of the resonator's higher-order modes and can be used in chemical sensing. © 2024 IEEE.

关键词： Electrostatics

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Contamination-free cell lysis microfluidic device using cell cross over

Contamination-free cell lysis microfluidic device using cell...

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13th International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2009

作者： Mun, Byung Phil Jung, Seung Mo Yoon, Sang Youl Lee, Jong Hyun Yang, Sung School of Information and Mechatronics Gwangju Institute of Science and Technology Korea Republic of Graduate Program of Medical System Engineering Gwangju Institute of Science and Technology Korea Republic of Department of Nanobio Materials and Electronics Gwangju Institute of Science and Technology Korea Republic of

ISBN: (纸本)9780979806421

Complicated and time-consuming cell purification processes prevent a micro cell lysis device from integrating with LOC (Lab-on-a-chip) or μ-TAS (μ-Total Analysis System) devices for cell analysis. In this paper, we present a microfluidic cell lysis device using a contamination-free cell cross over method in order to minimize the cell pretreatment procedure. © 2009 CBMS.

关键词： Microfluidics

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Experimental verification of UAS based battery terminal voltage collapse detection on a simple embedded platform 11

Experimental verification of UAS based battery terminal volt...

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11th International Symposium on mechatronics and its Applications, ISMA 2018

作者： Alkhawaja, Fares Koirala, Koshish Daffalla, Mirghani Kassem, Mohamad Tily, Muhammad Amin Al-Rousan, Ghaith Mukhopadhyay, Shayok Mechatronics Graduate Program American University of Sharjah P.O Box 26666 Sharjah United Arab Emirates Department of Electrical Engineering American University of Sharjah P.O Box 26666 Sharjah United Arab Emirates

ISBN: (纸本)9781538610787

This paper experimentally verifies that the Universal Adaptive Stabilization (UAS) based Li-ion battery terminal voltage collapse strategy can be implemented on a simple embedded platform i.e. microcontrollers. Due to the complex nature of Nussbaum type switching functions, it is usually assumed that using the UAS strategy with certain Nussbaum functions is very computationally intensive and requires extremely powerful computation equipment due to the small step-size requirements. However, in this paper we present the implementation and verification of a universal adaptive stabilizer, which uses a Mittag-Leffler function as a Nussbaum function, and implement it on a simple microcontroller based system, i.e. the PIC24FJ128GA010 which is a focal point in this paper. The adaptive observer has proven to be capable of tracking the terminal voltage of different batteries in several separate trials. In another set of experiments, it is shown that bypassing the low-pass filter may also provide alternate ways to detect Li-ion battery terminal voltage collapse. © 2018 IEEE.

关键词： Lithium-ion batteries

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Nonlinear Control of Quadrotor Using Multi Lyapunov Functions

Nonlinear Control of Quadrotor Using Multi Lyapunov Function...

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American Control Conference

作者： Aydin Yesildirek Bara Imran Department of Electrical Engineering American University of Sharjah UAE Mechatronics Graduate Program American University of Sharjah UAE

ISBN: (纸本)9781479932757

A nonlinear control algorithm is given for a class of quadrotors operating in small angles. The control of 6-DOF moving platform using only four actuators results in an under-actuated control system. In order to transform the dynamics in affine form, an additional constraint is applied on the actuation mechanism that reduces the independent control signals even further. In this paper, the system is decomposed in to three fully actuated subsystems;in pitch, roll and yaw domains. Local subcontrollers are designed using partial feedback linearization. The proposed multi Lyapunov function based switching control algorithm is employed to achieve tracking of Cartesian space motion and the heading angle of the quadrotor. Local stability of the closed-loop system is shown in the flight region of interest. The performance of the proposed controller is illustrated to follow a desired position, velocity and the heading angle of quadrotor.

关键词： Rotors Switches Aerospace electronics Lyapunov methods Vectors Trajectory

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A Comparative Hardware Implementation of Histogram of Oriented Gradients as a Descriptor in Embedded Tracking of Swarm

SSRN

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SSRN 2023年

作者： Legarda, Diego Antonio Pérez, Karen Viviana Muñoz, Daniel Mauricio Department of Mechanical Engineering Mechatronics Systems Graduate Program University of Brasilia DF Brasilia70910-900 Brazil

The Histogram of Oriented Gradients (HOG) algorithm is widely utilized in image processing for tasks such as detection, classification, and tracking. However, several challenges arise when implementing this algorithm on computing platforms with limited memory and low power consumption, such as mobile robots and drones. This work presents an in-depth analysis and implementation of three innovative hardware architectures for HOG, specifically designed for real-time processing using Field programmable Gate Arrays (FPGAs) in the context of mobile robot localization. The primary focus of these architectures is to simplify the processing operations involved in gradient magnitude and orientation calculation, histogram generation, and normalization. These simplifications lead to a reduction in resource utilization and energy consumption. Experimental results conducted on a Zynq 7020 device demonstrated minimal relative error values throughout the en-Email addresseslegarda8027@*** (Diego Legarda), kperezlujan@*** (Karen Ṕerez), damuz@*** (Daniel M. Muñoz) 1Corresponding authorPreprint submitted to Journal of Parallel and Distributed Computing. July 31, 2023tire process, along with a significant execution time improvement of over 1000 times when compared to the software-based solution. © 2023, The Authors. All rights reserved.

关键词： Mobile robots

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Motion Measurement Methods for Nonlinear Analysis of Electrostatic MEMS Resonators 20

Motion Measurement Methods for Nonlinear Analysis of Electro...

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20th International Conference on Smart Technologies, EUROCON 2023

作者： Ghommem, Mehdi Alattar, Basil Lherbette, Michael Elhady, Alaaeldin Abdel-Rahman, Eihab American University of Sharjah Department of Mechanical Engineering Sharjah26666 United Arab Emirates Mechatronics Graduate Program American University of Sharjah Sharjah26666 United Arab Emirates SmarAct Metrology Rohdenweg Oldenburg Germany Systems Design Engineering University of Waterloo Waterloo Ontario Canada

ISBN: (纸本)9781665463973

In this paper, we compare two measurement techniques to analyze the dynamic response of a MEMS resonator, made of a microcantilever beam, that is electrostatically actuated via a side electrode. The first method is based on a combination of Michelson interferometry, knife-edge analysis, and stroboscopic imaging, and is used to dissect the in-plane and out-of-plane motions of the resonator. The second approach follows the motion-induced current method and is based on a transduction mechanism that converts the movement of the resonator to a current signal. The third harmonic of said current is directly related to the in-plane motion of the resonator. Motion-induced current measurements enable the detection of the nonlinear dynamics associated with the motion of the resonator when actuated with high excitation voltages. The optical and electrical measurements show similar nonlinear features in terms of the location of the cyclic-fold bifurcation in the parameter space and the hysteretic region associated with it. These dynamic features can be exploited for sensing purposes. © 2023 IEEE.

关键词： Interferometry

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Autonomous ground vehicle design, integration and control for the IGVC Competition

Autonomous ground vehicle design, integration and control fo...

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International Symposium on mechatronics and Its Applications, ISMA

作者： M Zulkifli H Z Aichour Md S Chowdhury Naveed Ali W Khan K Saadeddin S Ukkirapandian Mohammed A Jarrah Graduate Program of Mechatronics Engineering American University of Sharjah Sharjah UAE Department of Mechanical Engineering American University of Sharjah Sharjah UAE

This paper describes the design, development and testing of Unmanned Autonomous ground vehicle that was developed to participate in the International Ground Vehicle Competition (IGVC). This paper will go through the o... 详细信息

关键词： Vehicles Global Positioning System Wheels Path planning Compass Cameras

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Design and Construction of a Low-Cost Combat Robot

Design and Construction of a Low-Cost Combat Robot

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2024 Brazilian Symposium on Robotics (SBR), and 2024 Workshop on Robotics in Education (WRE)

作者： R. B. Costa G. Itacaramby J. Cabral M. A. Pastrana J. M. Peñaloza Daniel M. Muñoz Faculty of Gama Automotive Engineering Undergraduate Program Faculty of Gama Aerospace Engineering Undergraduate Program Faculty of Gama Software Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil Department of Mechanical Engineering Mechatronics Graduate Program

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

This paper presents the design and construction of a low-cost combat robot named Artemis, developed for participation in the Robocore Experience 2024 competition. The project emphasizes the integration of cost-effective components and innovative methodologies to create a competitive robot. The ESP32 microcontroller was selected for its advantages in energy efficiency and connectivity, surpassing traditional platforms like Arduino. The construction process involved several phases, including planning, development, testing, correction, and performance evaluation, utilizing tools such as CAD software for design and 3D printing for fabrication. Key components included a DC motor, L298N H-bridge, and a LiPo battery, all chosen to optimize performance while adhering to budget constraints. The robot's design evolved through iterative testing and adjustments, ultimately leading to a successful competition debut. This work highlights the importance of resourcefulness and collaboration in robotics, showcasing how educational institutions can foster innovation in engineering projects.

关键词： Technological innovation Microcontrollers Weapons Switches Three-dimensional printing Solids Software Time factors Robots Testing

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ESTIMATING VEHICLE STATE BY GPS/IMU FUSION WITH VEHICLE DYNAMICS

ESTIMATING VEHICLE STATE BY GPS/IMU FUSION WITH VEHICLE DYNA...

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International Conference on Unmanned Aircraft Systems

作者： Kamal Saadeddin Mamoun F. Abdel-Hafez Mohammad Amin Jarrah Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Department of Mechanical Engineering American University of Sharjah Sharjah UAE

ISBN: (纸本)9781479908158

In this paper, a low-cost navigation system with high integrity and reliability is proposed. A high-integrity estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes a vehicle velocity constraint measurement to enhance the accuracy of the estimate. Two estimations filters, the extended Kalman filter (EKF) and the extended information filter (EIF), are designed and compared to obtain the estimate of the vehicle state. An instrumentation system that consists of a microcontroller, a GPS receiver, an IMU, velocity encoder, and a Zigbee transceiver is constructed. The microcontroller provides a vehicle navigation solution at 50 Hz by fusing the measurements of the IMU, the GPS receiver and the digital compass using the proposed filter design. Extensive experimental tests are conducted to verify the accuracy of the proposed algorithm. These results are processed with and without the velocity constraints. The estimation accuracy improvement with the addition of the velocity constraints is demonstrated. More than 16% reduction in the computational time is demonstrated when using the EIF in comparison to the EKF approach.

关键词： GPS IMU State Estimation Velocity Constraint

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Heading Angle Estimation Using Intelligent Fusion for Autonomous Vehicles

Heading Angle Estimation Using Intelligent Fusion for Autono...

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Advances in Science and engineering Technology International Conferences (ASET)

作者： Ali A. Barakat Mohammad A. Jardat Ahmed M. Elsergany Nidal A. Sherif Mechanical Engineering Department American University of Sharjah Sharjah UAE Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE

Low-cost navigation systems for ground vehicles often rely on the fusion with Global Positioning System (GPS) for improved state estimation. In this study a low-cost gyroscope is fused with a GPS for improved vehicle heading angle estimation using several Artificial Intelligence (AI) based architectures that include Shallow Neural Networks (SNN), Multi-Layer Neural Networks (MLNN), and Adaptive Neuro- Fuzzy Inference Systems (ANFIS). The primary goal behind using AI based sensor fusion is to obtain a highly accurate vehicle heading estimation suitable for autonomous navigation applications. When available, the GPS signal is used to correct the vehicle's heading angle. The neural networks and ANFIS methods both use the difference between the GPS signal and the heading angle from the integrated gyroscope as inputs. The performance achieved is shown and analyzed. According to the results obtained, the MLNN provides the most accurate heading estimates.

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