Category: Mechanical and Aerospace Engineering

Imagine deploying multiple undersea robots, all in touch and working together for months, even years, no matter how rigorous the mission, brutal the environment, or extreme the conditions.

It is possible, though not quite yet. “Limited energy resources and underwater communication are the biggest issues,” says Michigan Tech Researcher Nina Mahmoudian. Grants from a National Science Foundation CAREER Award and the Young Investigator Program from the Office of Naval Research are helping Mahmoudian solve those issues and pursue her ultimate goal: the persistent operation of undersea robots.

“Autonomous underwater vehicles (AUVs) are becoming more affordable and accessible to the research community,” she says. “But we still need multipurpose long-lasting AUVs that can adapt to new missions quickly and easily.”

Mahmoudian has already developed a fleet of low-cost, underwater gliders, ROUGHIEs, to do just that. Powered by batteries, they move together through the water simply by adjusting their buoyancy and weight. Each one weighs about 25 pounds. “ROUGHIE, by the way, stands for Research-Oriented Underwater Glider for Hands-on Investigative Engineering,” adds Mahmoudian.

“My most exciting observation was a Beluga mother and calf swimming together. It’s very similar to our recharge on-the-fly concept.”

—Nina Mahmoudian

“The ROUGHIE’s open control architecture can be rapidly modified to incorporate new control algorithms and integrate novel sensors,” she explains. “Components can be serviced, replaced, or rearranged in the field, so scientists can validate their research in situ.” Research in underwater control systems, communication and networking, and cooperative planning and navigation all stand to gain.

Mahmoudian observes Mother Nature to design robotic systems. “There is so much to learn,” she says. “My most exciting observation was a Beluga mother and calf swimming together. It’s very similar to our recharge on-the-fly concept. The technology is an early stage of development.”

Mahmoudian’s students apply and implement their algorithms on real robots and test them in real environments. They also give back to the community, by teaching middle school students how to design, build, and program their own low-cost underwater robots using a simple water bottle, called a GUPPIE.

“As a girl growing up, I first thought of becoming an architect,” says Mahmoudian. “Then, one day I visited an exhibition celebrating the 30th anniversary of space flight. That’s when I found my passion.” Mahmoudian went on to pursue aerospace engineering in Iran, and then graduate studies at Virginia Tech in the Department of Aerospace and Ocean Engineering. “Underwater gliders share the same physical concepts as airplanes and gliders, but deal with different fluid density and interactions,” she says.

Now at Michigan Tech, Mahmoudian’s work advances the abilities of unmanned robotic systems in the air, on land, and under sea. “Michigan Tech has easy access to the North Woods and Lake Superior—an ideal surrogate environment for testing the kind of autonomous systems needed for long term, challenging expeditions, like Arctic system exploration, or searching for signs of life on Europa, Jupiter’s moon.” She developed the Nonlinear and Autonomous Systems Laboratory (NAS Lab) in 2011 to address challenges that currently limit the use of autonomous vehicles in unknown, complex situations.

More than scientists and engineers, Mahmoudian wants simple, low-cost AUV’s to be available to anyone who may need one. “I envision communities in the Third World deploying low-cost AUVs to test and monitor the safety and quality of the water they use.”

More than 90 percent of US medical expenditures are spent on caring for patients who cope with chronic diseases. Some patients with congestive heart failure, for example, wear heart monitors 24/7 amid their daily activities.

Michigan Tech researcher Ye Sarah Sun develops new human interfaces for heart monitoring. “There’s been a real trade-off between comfort and signal accuracy, which can interfere with patient care and outcomes,” she says. Sun’s goal is to provide a reliable, personalized heart monitoring system that won’t disturb a patient’s life. “Patients need seamless monitoring while at home, and also while driving or at work,” she says.

Sun has designed a wearable, self-powered electrocardiogram (ECG) heart monitor. “ECG, a physiological signal, is the gold standard for diagnosis and treatment of heart disease, but it is a weak signal,” Sun explains. “When monitoring a weak signal, motion artifacts arise. Mitigating those artifacts is the greatest challenge.”

Sun and her research team have discovered and tapped into the mechanism underlying the phenomenon of motion artifacts. “We not only reduce the in uence of motion artifacts but also use it as a power resource,” she says.

Their new energy harvesting mechanism provides relatively high power density compared with traditional thermal and piezoelectric mechanisms. Sun and her team have greatly reduced the size and weight of an ECG monitoring device compared to a traditional battery-based solution. “The entire system is very small,” she says, about the size of a pack of gum.

“We not only reduce the influence of motion artifacts but also use it as a power resource.”

—Ye Sarah Sun

Unlike conventional clinical heart monitoring systems, Sun’s monitoring platform is able to acquire electrophysiological signals despite a gap of hair, cloth, or air between the skin and the electrodes. With no direct contact to the skin, users can avoid potential skin irritation and allergic contact dermatitis, too—something that could make long-term monitoring a lot more comfortable.

The verification and validation (V&V) process for a typical automotive vehicle and powertrain electronic control unit takes approximately two years, and costs several million dollars. V&V are essential stages in the design cycle of an industrial controller, there to remove any gap between the designed and implemented controller. Computer modeling has brought about improvements over the years, but the gap remains.

Michigan Tech researcher Mahdi Shahbakhti has made significant progress to remove that gap, using system models to easily verify controller design. His solution features an adaptive sliding mode controller (SMC) that helps the controller deal with imprecisions in the implementation of the system.

The research is funded by the National Science Foundation GOALI program, or Grant Opportunities for Academic Liaison with Industry. Shahbakhti’s team and fellow researchers from the University of California, Berkeley, and Toyota USA in Ann Arbor, Michigan are nearing the end of their three-year collaborative GOALI project.

“Analog-to-digital conversion (ADC) is one of the main sources of controller implementation imprecisions, mostly due to sampling and quantization,” says Shahbakhti. “Our approach mitigates ADC imprecisions by first identifying them in the early stages of the controller design cycle. We first developed a mechanism for real-time prediction of uncertainties due to ADC and then determined how those uncertainties propagated through the controller. Finally we incorporated those predicted uncertainties into the discrete sliding mode controller (DSMC) design.”

“Analog-to-digital conversion (ADC) is one of the main sources of controller implementation imprecisions, mostly due to sampling and quantization.”

– Mahdi Shahbakhti

Shahbakhti and his team tested an actual electronic control unit at Michigan Tech in a real time processor-in-the-loop setup. Their approach significantly improved controller robustness to ADC imprecisions when compared to a baseline sliding controller. In a case study controlling the engine speed and air-fuel ratio of a spark ignition engine, the DSMC design with predicted uncertainty provided a 93 percent improvement compared to a baseline sliding controller.

Toyota works closely with the research team to integrate GOALI project results into the design cycle for its automotive controllers. The company provided team members with an initial week of training on its V&V method of industrial controllers, and also participates with Shabakhti’s team in online biweekly meetings. “The concept of this project is fundamental and generic—it can be applied to any control system, but complex systems, such as those in automotive applications, will benefit most,” notes Shahbakhti.