Sohel Anwar

• PhD, PE
• Professor at Indiana University – Purdue University Indianapolis

Lithium-Ion batteries have become the principal battery technology for EVs to date. However, one of the principal factors limiting the widespread usage of the EVs is the length of charging times for the lithium-ion battery packs. The appropriate charging algorithm is critical to shorten the battery charging times while keeping the battery safe. In...

The Energy Management Strategy (EMS) of PHEV controls the motor power & engine power to reduce overall energy consumption and manage the battery state of charge (SOC). EMS strategies for PHEV are typically divided into two categories rule-based and optimization based. Rule-based EMS are easy to implement and simple to understand. However, their app...

This paper presents the preliminary results of our investigation in detecting negative road objects such as potholes and cracks in real-time for autonomous vehicles in order to improve safety. It is important to not only detect the existence of the negative road object from a safe distance, but also to identify the size, depth, and shape of such ob...

The goal of achieving autonomous navigation for agricultural robots poses significant challenges, mostly arising from the substantial natural variations in crop row images as a result of weather conditions and the growth stages of crops. The processing of the detection algorithm also must be significantly low for real-time applications. In order to...

Surgical scene understanding in Robot-assisted Minimally Invasive Surgery (RMIS) is highly reliant on visual cues and lacks tactile perception. Force-modulated surgical palpation with tactile feedback is necessary for localization, geometry/depth estimation, and dexterous exploration of abnormal stiff inclusions in subsurface tissue layers. Prior w...

As autonomous vehicle technologies continue to advance in the automotive industry, sensors such as Infra-Red (IR) cameras are becoming increasingly crucial during night-time and low visibility scenarios. However, developing and validating object detection and recognition algorithms with these sensors can be expensive and time-consuming. Therefore,...

Accurately testing sensors used in vehicles prior to physical production is crucial for identifying potential shortcomings and configuring effective vehicle driver assistance systems and automations. The use of virtual environments for sensor simulation and testing offers extensive freedom and allows for experimentation with scenarios that are cost...

Rigorous testing of automotive sensors for accuracy and precision is essential before finalizing designs and proceeding with mass production. This testing process plays a crucial role in identifying these sensors’ potential shortcomings, which are essential components in the Advanced Driver Assistance Systems (ADAS). A virtual environment for senso...

Autonomous navigation in off-road environments presents significant challenges due to the diverse and unpredictable characteristics of natural terrains. Due to the class imbalances prevalent in the existing datasets, the current models exhibit difficulties adapting to different environmental conditions. In this paper, we present an approach to addr...

Surgical Haptics is an emergent field of research to integrate and advance the sense of robotic touch in laparoscopic tools in Robot Assisted Minimally Invasive Surgery. Haptic feedback from the tooltip and soft tissue surface interaction during robotic palpation can be leveraged to detect the texture and contour of subsurface geometry. However, pr...

The efficiency of hybrid electric powertrains is heavily dependent on energy and power management strategies, which are sensitive to the dynamics of the powertrain components that they use. In this study, a Modified Particle Swarm Optimization (Modified PSO) methodology, which incorporates novel concepts such as the Vector Particle concept and the...

Obstacle detection, avoidance and path finding for autonomous vehicles requires precise information of the vehicle’s environment for accurate navigation and decision making. As such vision and depth perception sensors have become an increasingly integral part of autonomous vehicle research and development work. The advancements made in vision senso...

The structural integrity of an electro-mechanical assembly significantly determines the robustness of the design and durability of a product. Handheld portable medical devices require more attention on their compactness and packaging to ensure design fidelity for manufacturing and avoid permanent damages during inevitable drops or rough handling in...

The objective of this paper is to formulate and analyze the benefits of a predictive non-linear multi objective optimization method for a platoon of mild-hybrid line haul trucks. In this study a group of three trucks with hybrid electric powertrain are considered in a platoon formation where each truck has a predictive optimal control to save fuel...

Fuel consumption, subsequent emissions and safe operation of class 8 vehicles are of prime importance in recent days. It is imperative that a vehicle operates in its true optimal operating region, given a variety of constraints such as road grade, load, gear shifts, battery state of charge (for hybrid vehicles), etc. In this paper, a research study...

Objective: Low back pain (LBP) is one of the leading neuromusculoskeletal (NMSK) problems around the globe. Soft Tissue Manipulation (STM) is a force-based, non-invasive intervention used to clinically address NMSK pain conditions. Current STM practice standards are mostly subjective, suggesting an urgent need for quantitative metrics. This resear...

Fuel consumption, subsequent emissions and safe operation of class 8 vehicles are of prime importance in recent days. It is imperative that the vehicle operates in its true optimal operating region given a variety of constraints such as road grade, load, gear shifts, Battery State of charge (for hybrid vehicles), etc. In this paper a research study...

During recent years, different lane detection algorithms have been presented based on computer vision and deep learning. Each model may have a better performance in some situations and fail in others. For example, deep learning-based methods are vulnerable to new samples. In this research, multiple models of lane detection are evaluated and used to...

An H∞$H\infty$ controller is designed to control a rotary inverted pendulum in its upright equilibrium position. The key contribution of this work is a robust controller architecture design to accommodate for uncertainty in actuator model. Robust stability and performance for a given degree of actuator and measurement uncertainty is achieved using...

This paper proposed a 3D force sensor based on in-situ nanocomposite strain sensors. The polymer matrix of the polyvinylidene fluoride (PVDF) and multiwalled carbon nanotubes (MWCNT) conductive filler nanocomposite film has been chosen as sensing elements for the 3D force sensor. A tree branch design was used as the 3D force sensor’s elastic struct...

Soft Tissue Manipulation (STM), a form of mechanotherapy, offers a clinical modality to examine and treat Neuromusculoskeletal (NMS) pain disorders and dysfunction. The, current STM practice is mostly subjective and reliant on anecdotal patient feedback and lacks quantification with objective metrics. This paper proposes Quantifiable Soft Tissue Ma...

Energy and Power Management Strategies play vital role in improving efficiency of any hybrid propulsion system. However, these control strategies are sensitive to the dynamics of the powertrain components used is the given system. A mathematical model for hybrid powertrain of Range Extended Electric Vehicle (REEV) has been developed in this study a...

This research presents a RADAR modeling technique suitable for autonomous vehicle simulation environment using open source utilities. This study proposes to customize an onboard LiDAR model to the specification of a desired RADAR field of view, resolution, and range and then utilizes a density based clustering algorithm to generate the RADAR output...

The paper presents a strategy for the control of anautonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, the optimal racing line is computed, taking track boundaries into account. With the optimal racing line as areference, a local nonlinear model predictive controller (NMPC) is proposed, which takes into account multip...

World wind energy output is steadily increasing in both production scale and capacity of harvesting wind. Hydrostatic transmission systems (HTSs) have been used mostly in offshore wind turbine applications. However, their potential has not been fully utilized in onshore wind turbines, partially due to concerns related to hydraulic losses. In our pr...

A single camera creates a bounding box (BB) for the detected object with certain accuracy through a convolutional neural network (CNN). However, a single RGB camera may not be able to capture the actual object within the BB even if the CNN detector accuracy is high for the object. In this research, we present a solution to this limitation through t...

Polymer nanocomposites (PNC) have a great potential for in-situ strain sensing applications in both static and dynamic loading scenarios. These PNCs, having a polymer matrix of polyvinylidene fluoride (PVDF) with a conductive filler of multi-walled carbon nanotubes (MWCNT), have both piezoelectric and piezoresistive characteristics. Generally, this...

Autonomous navigation of agricultural robot is an essential task in precision agriculture, and success of this task critically depends on accurate detection of crop rows using computer vision methodologies. This is a challenging task due to substantial natural variations in crop row images due to various factors, including, missing crops in parts o...

An electrochemical model based capacity fade estimation method for a Li-Ion battery is investigated in this paper. An empirical capacity fade model for estimating the state of health of a LiFePO4 electric vehicle battery was integrated with electrochemical battery model in Matlab/Simulink platform. This combined model was then validated against exp...

This research paper presents a look-ahead optimal control strategy for a Hydro-static Drive Wind Turbine when look ahead wind speed information is available. The proposed predictive controller is a direct numerical optimizer based on the well established principles of Hamilton-Jacobi-Bellman (Dynamic Programming). Hydro-static transmission based, n...

The Electrical capacitance tomography (ECT) method has recently been adapted to obtain tomographic images of the cross section of a diesel particulate filter (DPF). However, a soot mass estimation algorithm is still needed to translate the ECT image pixel data to obtain soot load in the DPF. In this research, we propose an estimation method to quant...

To apply data fusion in time-domain based on Dempster–Shafer (DS) combination rule, an 8-step algorithm with novel entropy function is proposed. The 8-step algorithm is applied to time-domain to achieve the sequential combination of time-domain data. Simulation results showed that this method is successful in capturing the changes (dynamic behavior...

Topology optimization is broadly recognized as a design approach to generate high-performance conceptual designs suitable for freeform fabrication, e.g., additive manufacturing. When other fabrication methods are considered, topology optimization must integrate manufacturing constraints. The integration of constraints for extrusion and casting has...

3D force sensors have been proven its effectiveness and appropriateness for robotics applications. It has been used in medical and physical therapy applications such as surgical robot and Instrument Assisted Soft Tissue Manipulation (IASTM) in the recent times. The 3D force sensors have been utilized in robot assisted surgeries and modern physical...

Current image classification techniques for weed detection (classic vision techniques and deep-neural net) provide encouraging results under controlled environment. But most of the algorithms are not robust enough for real-world application. Different lighting conditions and shadows directly impact vegetation color. Varying outdoor lighting conditi...

This work presents innovative origami optimization methods for the design of unit cells for complex origami tessellations that can be utilized for the design of deployable structures. The design method used to create origami tiles utilizes the principles of discrete topology optimization for ground structures applied to origami crease patterns. The...

The Electrical capacitance tomography (ECT) method has recently been adapted to obtain tomographic images of the cross section of a diesel particulate filter (DPF). However, a soot mass estimation algorithm is still needed to translate the ECT image pixel data to obtain soot load in the DPF. In this paper, we propose an estimation method to quantif...

Multi-sensor data fusion technology in an important tool in building decision-making applications. Modified Dempster–Shafer (DS) evidence theory can handle conflicting sensor inputs and can be applied without any prior information. As a result, DS-based information fusion is very popular in decision-making applications, but original DS theory produ...

A hydrostatic drivetrain transmits wind turbine energy to a generator. One hydrostatic transmission system (HTS) configuration utilizes a fixed displacement pump and a variable displacement motor. The system dynamics are captured in a nonlinear multi‐input multi‐output mathematical model. This paper introduces a decentralized control configuration...

With the ever-increasing usage of lithium-ion batteries, especially in transportation applications, accurate estimation of battery state of charge (SOC) is of paramount importance. A majority of the current SOC estimation methods rely on data collected and calibrated offline, which could lead to inaccuracies in SOC estimation under different operat...

In this paper, a new method for measuring the DPF soot load is proposed which does not require any physical sensors for its operation. This method is applicable for all the automobiles equipped with a turbocharger. The proposed virtual sensor utilizes the information on the turbocharger turbine speed variations to estimate the DPF soot load. Simula...

The objective of this paper is to design a quadruped robot with compliant legs. Compliant legs are developed using flexible joints, which allow the robot to attenuate the effect of support-leg exchange. A model of the legs is generated in SimMechanics and optimized to minimize the maximum torque required by the actuators. The control of the robot i...

This paper presents an analysis on ways to improve the annual energy production (AEP) of a wind turbine utilizing a drivetrain that operates based on the hydrostatic transmission. The system configuration of such a drivetrain is explained in details and a comparison of operation and characteristics with existing drivetrains is provided. AEP was est...

Instrument-assisted soft tissue manipulation (IASTM) is a form of manual therapy which is performed with rigid cast tools. The applied force during the IASTM process has not been quantified or regulated. Nor have the angle of treatment and strokes frequency been quantified which contribute to the overall recovery process. This paper presents a skin...

Integration of Compressed Air Energy Storage (CAES) system with a wind turbine is critical in optimally harvesting wind energy given the fluctuating nature of power demands. Here we consider the design of a CAES for a wind turbine with hydrostatic powertrain. The design parameters of the CAES are determined based on simulation of the integrated sys...

This study presents the development of an innovative artificial finger-like device that provides position specific mechanical loads at the end of the long bone and induces mechanotransduction in bone. Bone cells such as osteoblasts are the mechanosensitive cells that regulate bone remodelling. When they receive gentle, periodic mechanical loads, ne...

Instrument assisted soft tissue mobilization (IASTM) is a form of massage using rigid manufactured or cast devices. The delivered force, which is a critical parameter in massage during IASTM, has not been measured or standardized for most clinical practices. There is a strong need to characterize the delivered force to a patient. This paper propose...

To increase productivity of a wind power plant, the overall loss of its drivetrain should be minimized. For hydrostatic transmission wind turbine (HTSWT), aerodynamic efficiency of the rotor and the hydrostatic efficiency of pump and motor determine the overall loss. In this study, optimal control theory is utilized to develop a control law that mi...

This work presents a novel approach to particulate material (soot) measurement in a diesel particulate filter (DPF) using electrical capacitance tomography (ECT). Modern diesel engines are equipped with DPFs, as well as onboard technologies to evaluate the status of DPF because complete knowledge of DPF soot loading is very critical for robust and...

Electrochemical model-based condition monitoring of a Li-Ion battery using an experimentally identified battery model and Hybrid Pulse Power Characterization (HPPC) cycle is presented in this paper. LiCoO2 cathode chemistry was chosen in this work due to its higher energy storage capabilities. Battery electrochemical model parameters are subject to...

Instrument-assisted soft tissue manipulation (IASTM) is a form of mechanotherapy, e.g., massage, that uses rigid devices which may be machined or cast. The delivered force, which is a critical parameter during IASTM, is not measured and not standardized in current clinical IASTM practice. In addition to the force, the angle of treatment and stroke...

Quantifiable soft tissue manipulation (QSTM) that can characterize the motion and forces delivered during soft tissue examination and treatment of common musculoskeletal (MS) conditions in a real-time and clinically applicable manner is needed to achieve optimal outcomes. Soft tissue manipulation (STM), e.g. massage, is a type of mechanotherapy tha...

The mechanical loading of knee is an effective regimen for treatment of bone related ailments like fractures, osteoarthritis, and osteoporosis [1–2]. Efficacy of knee loading is evident from the previous studies done on rodents and other small animals [3]. In order to test this loading concept on human subjects, a prototype of a portable and compac...

Instrument assisted soft tissue mobilization (IASTM) is a form of massage using rigid manufactured or cast devices. The delivered force, which is a critical parameter in massage during IASTM, has not been measured or standardized for most clinical practices. In addition to the force, the angle of treatment and frequency play an important role durin...

Knee loading is one form of joint loading modalities, which potentially provides a therapeutic regimen to stimulate bone formation and prevent degradation of joint tissues [1]. Healing of knee injuries is sensitive to many environmental stimuli. Since mechanical stimuli are crucial for the growth, development, and maintenance of articular cartilage...

This paper presents a methodology for designing and dimensioning of hydrostatic transmission system (HTS) configurations for wind turbines. HTS provides an alternative method to the gearbox in wind power applications. It decouples the turbine and the generator such that the generator can be driven at synchronous speed regardless of wind speed varia...

This paper presents the design of an innovative device that applies dynamic mechanical load to human knee joints. Dynamic loading is employed by applying cyclic and periodic force on a target area. The repeated force loading was considered to be an effective modality for repair and rehabilitation of long bones that are subject to ailments like frac...

In this paper, we propose the design of a novel optimal strategy for charging the lithium-ion battery based on electrochemical battery model that is aimed at improved performance. A performance index that aims at minimizing the charging effort along with a minimum deviation from the rated maximum thresholds for cell temperature and charging current...

Mechanical stimuli are crucial for the growth, development, and maintenance of articular cartilage and bone. This paper investigates a novel mechanical loading device with position specific loading capability for stimulating articular cartilage and bone. It proposes a design of an under-actuated multi-fingered robotic hand for achieving such a join...

Mechanical loading of knee is an innovative modality developed for rehabilitation of knee joint bones that are subjected to bone fractures, osteoarthritis and osteoporosis. Loading essentially means applying a uniform and periodic force at a section or along the entire length of the knee joint. In this paper, we propose the design of such an electr...

In recent years, Lithium-Ion battery has gathered lot of importance in many forms of energy storage applications due to its overwhelming benefits. Any battery pack alone cannot achieve its optimal performance unless there is a robust and efficient energy management system, commonly known as battery management system or BMS. The Lithium-Ion charger...

Trends in the automotive control systems are toward more comprehensive and electronic control. The objective of this paper is to study the effectiveness of Internal Model Control PID (IMC-PID) method to develop a traction control system based on engine torque control for an automobile. A plant model is developed based on the governing equations and...

In this paper, we present an innovative approach in detecting fault conditions in a battery in which multiple model adaptive estimation (MMAE) technique is applied using electrochemical model of a Li-Ion cell. This physics based model of Li-ion battery (with LiCoO2 cathode chemistry) with healthy battery parameters was considered as the reference m...

This paper presents an innovative approach for measuring particulate matter deposition (soot load) in a diesel particulate filter (DPF) using electrical capacitance imaging. Emission regulations on diesel engines for gaseous as well as particulate matter (soot) emissions are getting stringent every few years by the environment regulatory agencies....

In this paper, an adaptive fault diagnosis technique is used in Li-ion batteries. The diagnosis process consists of multiple nonlinear models representing signature faults, such as overcharge and overdischarge, causing significant model parameter variation. The impedance spectroscopy of a Li-ion LiFePO4 cell is used, along with the equivalent circu...

In this paper, a model based condition monitoring technique is developed for lithium-ion battery condition monitoring. Here a number of lithium-ion batteries are cycled using two separate over discharge test regimes and the resulting shift in battery parameters is recorded. The battery models are constructed using the equivalent circuit methodology...

There is a strong urge for advanced diagnosis method, especially in high power battery packs and high energy density cell design applications, such as electric vehicle (EV) and hybrid electric vehicle segment, due to safety concerns. Accurate and robust diagnosis methods are required in order to optimize battery charge utilization and improve EV ra...

Moving Horizon Estimation (MHE) has emerged as a powerful technique for tackling the estimation problems of the state of dynamic systems in the presence of constraints, nonlinearities and disturbances. In this paper, the Moving Horizon Estimation approach is applied in estimating the State of Charge (SoC) and State of Health (SoH) of a battery and...

Hydraulic circuits can transfer remarkable amounts of energy in the desired direction without taking large space. To implement this technology for harvesting energy of wind appropriately, models of the system are required. Hydraulic wind power technology has the benefits of eliminating expensive and bulky variable ratio gearbox and its costly maint...

In this paper, we investigate distributed thermal-electrochemical modeling of a Lithium-Ion battery cell to include the effect of temperature distribution across the thickness of the cell as a first step to study the module level temperature distribution at high charging rates. Most recent works have focused on lumped thermal models for a Li-Ion ce...

The fast charge battery control problem is characterized by the need to have a sufficiently detailed model that can capture both the charging process and the inevitable constraints that limit the rate of charging due to battery state of health requirements. Presently, it appears the minimal modeling requirements to address the charging problem in m...

With the advantage of high energy density, long cycle life and environmental friendliness, Lithium-ion battery has become a promising power source for hybrid and electric vehicles, which are liable to two kinds of failure, overcharge and overdischarge. Because of the capability of detecting multiple faults, Multiple Model Adaptive Estimation (MMAE)...

In this paper, we develop mathematical models of a rotary Electronic Fuel Control (EFC) valve used in a Diesel engine based on dynamic performance test data and system identification methodology in order to detect the faulty EFC valves. The model takes into account the dynamics of the electrical and mechanical portions of the EFC valves. A recursiv...

Conventional wind power plants employ a variable speed gearbox to run a generator housed on top of a tower. A new topology can remove some of the weight from the tower and centralize the wind power generation. This new topology uses a hydraulic wind power transfer system to connect several wind turbines to the generation unit. This paper demonstrat...

In this paper, an adaptive fault diagnosis technique is used for fault detection in Lithium ion batteries. The monitoring setup consists of multiple models representing the different degree of parameter shift due to over-discharge in the Lithium ion battery. A recursive least square estimator along with equivalent circuit methodology is used to con...

This paper presents a novel approach of Particulate Material (soot) measurement in a Diesel particulate filter using Electrical Capacitance Tomography. Modern Diesel Engines are equipped with Diesel Particulate Filters (DPF's), as well as on-board technologies to evaluate the status of DPF because complete knowledge of DPF soot loading is very crit...

Joint loading is a recently developed mechanical modality, which potentially provides a therapeutic regimen to activate bone formation and prevent degradation of joint tissues. To our knowledge, however, few joint loading devices are available for clinical or point-of-care applications. Using a voice-coil actuator, we developed an electromechanical...

Diesel engines are widely used in heavy duty trucks and off road vehicles due to their fuel efficiency and high power outputs. Environmental regulatory agencies have pushed ever stringent regulations on all internal combustion engines, including Diesel engines on gaseous as well as particulates (soot) emissions. In order to meet today’s and tomorro...

This paper illustrates the application of model predictive control for trajectory control of micro electro mechanical lateral comb resonators (MEMS LCRs). A recursive least square estimator with dynamic data weighting method is used to estimate the parameters of MEMS in real-time. Accordingly, the control law and the gains are derived to achieve hi...

In this paper a battery fault detection unit is developed using multiple model adaptive estimation technique. Impedance spectroscopy data from Li-ion cell is used along with the equivalent circuit methodology to construct the battery models. Battery faults such as over charge and over discharge cause significant model parameter variation and can be...

Hydraulic circuits can transfer remarkable amount of energy in the desired direction without taking large space. To implement this technology for harvesting energy of wind appropriately, models of the system are required. Hydraulic wind power technology has benefits of eliminating expensive and bulky variable ratio gearbox and its costly maintenanc...

Hydraulic wind power transfer systems allow collecting of energy from multiple wind turbines into one generation unit. They bring the advantage of eliminating the gearbox as a heavy and costly component. The hydraulically connected wind turbines provide variety of energy storing capabilities to mitigate the intermittent nature of wind power. This p...

Gearless hydraulic wind power transfers are considered noble candidates for wind energy harvesting. In this method, high-pressure hydraulics is utilized to collect the energy of multiple wind turbines and transfer it to a central generation unit. The mathematical model of the gearless wind energy transfer system is described in the previous literat...