Centre for Mechatronics and Hybrid Technologies

A world class research and development Centre that promotes hybrid technology and its transfer to Canada while working with industrial partners to enhance their global competitiveness and augment their capabilities in training and recruitment.

The Centre for Mechatronics and Hybrid Technologies is a state-of-the-art research facility that looks at advanced concepts, such as electrification of vehicles, traffic monitoring, prognostics and health monitoring.

Video:

RESEARCH AREAS:

Fault detection and diagnosis
Hybrid/electric powertrain
Electric battery modeling
Autonomous driving: tracking & control
Estimation and cognitive control
Signal processing and filtering
Fluid power and hydraulics
Internal combustion engine

SUPPORTING INDUSTRY:

Collaborative research projects
Co-location of researchers in industry
Extensive powertrain research facilities - supporting both research and commercial testing

EDUCATION and TRAINING:

McMaster students and industrial partner employees.
- Graduate Program
- Undergraduate Training
- New Employee Training

Research Facilities

The centre's research uses a wide range of facilities located at McMaster Automotive Resource Centre. Primary focus of the research facilities are automotive powertrain components in systems.

Facilities:

High Speed Electric Motor Dynamometer

AVL DynoTK 250 Dynamometer

250kW Max Power
500Nm Max Torque
22,000 rpm Max Speed
Maximum Acceleration 60,000 rpm/sec

AVL Puma Open Control System

CAN communication up to 1000 Hz
EMCON 400 Test rig controller
Torque Measurement (up to 1kN, 0.05% accuracy)
16 high voltage analog inputs (1000V)
32 general purpose analog inputs (10V, 20mA, Thermocouple, RTD...)

AVL In-motion Simulation System

DC power up to 1000V, up to 800A

Various test inverters available to support custom E-motors

20kW fluid conditioning system

Engine Dynamometer

Horiba Dynas3 HT 250 Dynamometer

250kW Max Power
718 Nm Max Torque
10,000 rpm Max Speed

Horiba STARS Control System

CAN communication up to 1000 Hz
SPARCe Test rig controller
Torque Measurement (up to 2kN, 0.05% accuracy)
32 general purpose analog inputs (10V, 20mA, Thermocouple, RTD...)
16 general purpose pressure inputs (various ranges)

Emissions Bench

Engine Coolant Temperature Conditioning System (200kW)

Engine Oil Temperature Conditioning System (40kW)

Miriam LFE intake airflow measurement system

Positive displacement volumetric fuel measurement system with on-line density meter

Chassis Dynamometer

Mustang Dynamometer Chassis Dynamometer

Duel 218 mm (8.575”) Roller
Max speed 100 mph, 125mph transient
Max 268 hp absorption
30” to 100” track width
6000 lb max axle weight
2000 lb mechanical inertia

Battery Cell Tester

Digatron MCT

8X75A max channels - can be combined in parallel for up to 600A
0-5V

Custom Built Tester with EIS:

one channel up to 125A
0-5V
EIS - 10kHz to 1mHz
Data Acquisition to 50kHz

One 8ft^3 Thermal Chamber -63 to +177°C

One 16ft^3 Thermal Chamber -30 to 177°C

Battery Pack Tester

D&V Electronics BST 240 Battery Pack Tester:

2 Independant Channels:

Max Current 400A/channel
Max Voltage 600V/channel
Max Power 120kW/channel

Two Channels in Parallel:

Max current 800A
Max Voltage 600V
Max Power 240kW

Two Channels in Series:

Max current 400A
Max Voltage 1000V
Max Power 240kW

HIgh speed switch mode - channel switching in ~100usec:

Max current 400A
Max Voltage 600V
Max Power 120kW

Thermotron SE3000 Environmental Chamber

3000l (100ft^3) capacity
70°C to +180°C (-94°F to +365°F)

Electro-Hydrostatic Actuator

Dual Servo-motor/pumps

Dual piston hydraulic cylinder with linear encoder

Simulation for leakage and friction faults

General Instrumentation

Yokogawa WT1800 Power Meter

General purpose scopes, meters etc.

Vehicle hoist

Service Tools

Snap-on SOLUS ULTRA scan tool

dSPACE Micro Auto Box

Intrepid Controls NeoVI Fire/Vehicle Spy CAN Interface

Velodyne HDL32E Lidar

Delphi Electronically Scanning Radar

Princeton Applied Research Potentiostat/Galvanostat

Research

The Centre’s activities fall into three main areas:

Hybrid and Powertrain Technologies

Fault Detection and Diagnosis

State and Parameter Estimation Theory

Automotive Tracking Systems

Control of Mechatronic Systems

People

Our world-class researchers offer top notch support to the steel industry.

Faculty

Research Team

Ryan Ahmed, Postdoctoral Fellow

Biography: Dr. Ryan holds a doctorate degree in Mechanical Engineering, with focus on Mechatronics and Battery Management Systems from McMaster University. He received a Master’s degree in Mechanical Engineering from McMaster, with specialization in artificial intelligence and engine fault detection. Dr. Ryan has taught several courses on management and control of electric vehicles at McMaster University and at the educational EV/HEV boot camp at the IEEE Transportation Electrification Conference and Expo (iTEC 2015) in MI, USA. He is a Stanford Certified Project Manager (SCPM), certified Professional Engineer (P.Eng.) in Ontario, a member of the Society of Automotive Engineers (SAE), and a member of the Institute of Electrical and Electronics Engineers (IEEE).

Research Interests: Hybrid technology, battery modeling and condition monitoring, state and parameter estimation, fault detection and diagnosis, artificial intelligence, variable structure systems theory, intelligent and multivariate control, actuation systems, optimization, and fluid power and hydraulics

Hamed Afshari, Postdoctoral Fellow

Biography: Hamed received his Ph.D. degree in Mechanical Engineering from McMaster University in 2014. His PhD research focused on design and development of robust state estimation methods with applications to fault detection and diagnosis of actuation systems. During his PhD, he received a number of awards and scholarships including the Ontario Graduate Scholarship, McMaster Prestige Award, and International Excellent Award. Since 2014, he has been a postdoctoral fellow at the Centre for Mechatronics and Hybrid Technology at McMaster University. His research involves modeling, parameter identification, as well as state of charge and state of health estimation of batteries for hybrid electric vehicles.

Research Interests: Control and dynamic systems, state estimation, mechatronics, battery management systems, and fault detection and diagnosis

	Mina Attari, Postdoctoral Fellow Biography: Mina obtained her doctorate degree in Mechanical Engineering with focus on automotive tracking systems from McMaster University in 2016. She graduated in 2008 from the Electrical Engineering Department of Sharif University of Technology, Tehran with a Master’s degree in Electrical Engineering, Control. She received her B.Sc. degree in Electrical Engineering from Tabriz University, Tabriz in 2006. In her PhD at McMaster University, she researched on the development of new methods to deal with measurement origin uncertainty in car tracking systems. Research Interests: State and parameter estimation, variable structure theory, self-driving car, automotive tracking, data analysis, and machine learning.
	Zhongzhen Luo, Ph.D. Candidate Biography: Zhongzhen received his B.Eng. degree in Electrical and Computing Engineering from McMaster University, Hamilton, Ontario, Canada in 2012. He was also working as full time software engineer for over 16 months at ATS automation, Ontario, Canada. He is currently working toward his Ph.D. degree in Software Engineering at McMaster Automotive Resources Center. His current main research include real time implementation for self-driving vehicle, LiDAR point cloud data processing, Information fusion from multiple sensors system and algorithms design. Thesis Title: Pioneer Technology for Safety Driving Research Interests: Engineering optimization, image processing, intelligent systems, water distribution systems, optimal control, and neural networks.
	Mohammed Farag, Ph.D. Candidate Biography: Mohammed Farag is currently a part-time Ph.D. Student at McMaster University, Hamilton, ON, Canada and a full-time principle research engineer at BMW AG (Munich, Germany) on behalf of McMaster University, Canada. He received his B.Sc. Degree (high honours) from Ain Shams University, Cairo, Egypt and M.A.Sc. Degree from McMaster University, Hamilton, Canada, in 2008, and 2013, respectively, all in Mechatronics Engineering. Mohammed won the best paper award in the IEEE Transportation Electrification Conference and Expo (ITEC 2012) for his publication on battery management systems (BMS). He is the holder of 4 patents in the field of battery modeling, thermal management, the state of charge and state of health estimation, and fault diagnostics. He also won the Ontario Centers of Excellence (OCE) TalentEdge program funding for his research on battery management systems. . Thesis Title: Lithium-ion batteries: Mathematical modeling, thermal modeling , SOC and SOH estimation for electrical vehicles applications* Not final: subject to future changes Research Interests:* Hybrid and electrical vehicles technologies, battery thermal management, battery modeling and simulation, battery condition monitoring, state and parameter estimation, control systems, intelligent and multivariate control, fault detection and diagnosis, artificial intelligence, variable structure systems theory, optimization, and mechatronics with applications in the automotive industry and batteries
	David Bazak, Ph.D. Student Biography: David obtained his honours B.Sc. in chemical physics from Trent University in 2011, and used Monte Carlo simulation to study thermally fluctuating magnetic stripes in high-temperature superconductors, for both his thesis project and as an NSERC USRA position. He then proceeded to study theoretical condensed matter physics at McMaster University, performing self-consistent field calculations on spatially modulated high temperature superconductors and earning his M.Sc. in 2013. His interests shifted towards sustainability and renewable energy, and he began his PhD research in 2015 at McMaster, co-supervised by Profs. Gillian Goward and Saeid Habibi. Thesis Title: NMR Investigations of Li-Ion Battery Electrochemical Models Research Interests: Electrochemical modelling, NMR imaging, pulsed-field gradient NMR, diffusion in porous media, concentrated solution theory, model parameterization, and condensed matter
	Mahmoud Ismail, Ph.D. Student Biography: Mahmoud obtained his BSc in Mechanical Engineering from Ain-Shams University, Egypt in 2010. He worked in academia as a TA and RA in Ain-Shams University, Egypt from 2010 to 2011. Mahmoud moved to industry to work for Procter & Gamble from 2011 to 2013. Afterward he joined CMHT to complete his MSc in Mechanical Engineering from 2013 to 2015 at McMaster University, Canada. Currently he works full time as a research engineer at D&V Electronics and doing his part time PhD which he started in 2015. Thesis Title: Fault Detection and Diagnosis of Electromechanical Machines Research Interests: Fault detection and diagnosis systems, signal processing, artificial intelligence algorithms, control theory, and mechatronics systems
	Essam Seddik, Ph.D. Student Biography: Essam obtained his bachelor degree in Mechatronics Engineering in 2010 from the Arab Academy for Sciences and Technology and Maritime Transport (AASTMT University), Egypt. He got his Masters of Applied Sciences degree in Mechatronics Engineering (automotive applications) from AASTMT University in 2013. He joined CMHT team at McMaster Automotive Resource Center (MARC) in 2014, and earned a M.A.Sc. in Machine Learning with an application to mechanical engineering from McMaster University, Canada, in 2016. Currently, He is working as a research engineer and PhD student in CMHT. Thesis Title: Fault Detection and Identification of Vehicle Starters and Alternators using Deep Learning Techniques Research Interests: Machine learning, deep learning, fault detection and identification, and camless engines and mechatronics with automotive applications
	Sean Hodgins, M.A.Sc. Student Biography: Sean Hodgins obtained his B.Tech (McMaster University, 2014) specializing in Automotive and Vehicle Technology. Over a period of that time he worked at Honda R&D in Raymond, Ohio designing CAD models as part of a co-op placement for two individual terms(8 Months and 4 Months). Immediately after completing the undergraduate program, Sean joined the CMHT team as an M.A.Sc student in Mechanical Engineering. Thesis Title: Designing, Manufacturing, and Programming a Wireless Sensor for Fault Detection and Diagnosis of Mechanical Systems Research Interests: Robotics, artificial neural networks, cognitive machines, electrical and mechanical system design, developing alternate teaching methods and tools, as well as a combination of any interests listed
	Rioch D'lyma, M.A.Sc. Student Biography: Rioch D’lyma obtained his Bachelor of Technology in Automotive & Vehicle Technology at McMaster University in 2015. He worked as a co-op student for 2 placements, for a total of a year, at D&V Electronics. He joined the CMHT team as a Masters student and Research Assistant in 2015. Rioch is also perusing his P.Eng and is currently an Engineering Intern (EIT) Thesis Title: Battery Model Parameterization using Multi-Object Optimization Research Interests: Battery modeling, optimization, neural networks, and internet of things
	Nicholas D'Aquila, M.A.Sc. Student Biography: Nicholas obtained his BSc in Mechatronic Engineering from McMaster University, Canada in 2016. He currently works as a research engineer for CMHT in collaboration with D&V Electronics. Thesis Title: On Fault Detection and Diagnosis of Battery Systems Research Interests: Battery modeling, and fault detection and diagnosis
	Min Xu, M.A.Sc. Student Biography: Min obtained his BSc in Mechanical Engineering from Wuhan University, China in 2009. He worked as a mechanical engineer in China General Nuclear Power Company, Shenzhen from 2009 to 2015. He joined CMHT team in 2016 as a Master student in McMaster University from 2015. Thesis Title: Hybrid powertrain lab design Research Interests: Hybrid electric vehicles, and hybrid powertrain system and components

Former Graduate Students

Essam Seddik, M.A.Sc. (2016), Thesis Title: Fault Detection and Identification of Vehicle Starters and Alternators Using Machine Learning Techniques

Atta Zeiaee, M.A.Sc. (2016), Thesis Title: An Intelligent Cell-Level Battery/Ultracapacitor Hybrid

Mina Attari, Ph.D. (2016), Thesis Title: SVSF (Smooth Variable Structure Filter) Estimation for Target Tracking with Measurement Origin Uncertainty

Ali Delbari, M.A.Sc. (2016), Thesis Title: Design and Implementation of a Lithium-ion Cell Tester Capable of Obtaining High Frequency Characteristics

Yifei Feng, M.A.Sc. (2016), Thesis Title: Fault Detection and Diagnosis of an Internal Combustion Engine

Xiang Hu, M.A.Sc. (2015), Thesis Title : Electro-Hydrostatic Actuator (EHA) Position Tracking and Correction

Mahmoud Ismail, M.A.Sc. (2015), Thesis Title : Industrial Extended Multi-Scale Principle Components Analysis for Fault Detection and Diagnosis of Car Alternators and Starters

Ryan Ahmed, Ph.D. (2014), Thesis Title: Modeling and State of Charge Estimation of Electric Vehicle Batteries

Hamed Afshari, Ph.D. (2014), Thesis Title: The 2nd-Order Smooth Variable Structure Filter (2nd-SVSF) for State Estimation: Theory and Applications

Mohammed Farag, M.A.Sc. (2013), Thesis Title: Lithium-Ion Batteries: Modelling and State of Charge Estimation

Reza Haghshenas, M.A.Sc. (2013), Thesis Title : Multiresolution-Multivariable Analysis of Vibration Signals; Applications in Fault Diagnosis of Internal Combustion Engines

Dhafar Al-Ani, Ph.D. (2012), Thesis Title: Energy Optimization Strategy for System-Operational Problems

Yu Song, M.A.Sc. (2012), Thesis Title : Electro-hydrostatic Actuator Fault Detection and Diagnosis

Mohammed El-Sayed, Ph.D. (2012), Thesis Title : Multiple Inner-Loop Control of an Electro-Hydrostatic Actuator

Wanlin Zhang, M.A.Sc. (2012), Thesis Title : A Fault Detection and Diagnosis Strategy for Permanent Magnet Brushless DC Motor

Shenjin Zhu, M.A.Sc. (2011), Thesis Title: Modeling, System Identification and Control of A Belt Drive System

Andrew Gadsden, Ph.D. (2011), Thesis Title: Smooth Variable Structure Filtering: Theory and Application

Jeffrey Sylvester, M.A.Sc. (2011), Thesis Title: Characterization and Modeling of Rubbing Friction in a Motored Four-Cylinder Internal Combustion Engine

Kevin McCullough, M.A.Sc. (2011), Thesis Title: Design and Characterization of a Dual Electro-Hydrostatic Actuator

Mohammad Al-Shabi, Ph.D. (2011), Thesis Title: The General Toeplitz/Observability Smooth Variable Structure Filter

Ryan Ahmed, M.A.Sc. (2011), Thesis Title: Training of Neural Networks Using the Smooth Variable Structure Filter with Application to Fault Detection

Publications

Journal Papers

M. Attari, Z. Luo, and S. Habibi, An SVSF-Based Generalized Robust Strategy for Target Tracking in Clutter, IEEE Transactions on Intelligent Transportation, Vol. 17, no. 5, pp. 1381-1392, May 2016.
H. H. Afshari, D. Al-Ani, and S. Habibi, A New Adaptive Control Scheme Based on the Interacting Multiple Model (IMM) Estimation, Journal of Mechanical Science and Technology Springer Publications, Vol. 30, No. 6, 2759-2767, 2016.
R. Ahmed, M. El Sayed, S. A. Gadsden, S. Habibi, and J. Tjong, Artificial Neural Network Training Utilizing the Smooth Variable Structure Filter Estimation Strategy, Neural Comput & Applic (2016) 27: 537. doi:10.1007/s00521-015-1875-2.
R. Ahmed, M. El-Sayed, S. A. Gadsden, J. Tjong, and S. Habibi, Automotive internal-combustion-engine fault detection and classification using artificial neural network techniques, IEEE Transactions of Vehicular Technology, Vol 64, No. 1, 2015.
R. Ahmed, J. Gazzarri, S. Onori, S. Habibi et al., Model-Based Parameter Identification of Healthy and Aged Li-ion Batteries for Electric Vehicle Applications, SAE Int. J. Alt. Power. 4(2):233-247, 2015, doi:10.4271/2015-01-0252.
H. H. Afshari, S. A. Gadsden, and S. Habibi, Robust Fault Diagnosis of an Electro-Hydrostatic Actuator Using the Novel Optimal Second-Order SVSF and IMM Strategies, International Journal of Fluid Power, Vol. 15, No. 3, 181-196, 2014.
R. Ahmed, M. El Sayed, I. Arasaratnam, J. Tjong, and S. Habibi, Reduced-Order Electrochemical Model Parameters Identification and SOC Estimation for Healthy and Aged Li-Ion Batteries. Part I: Parameterization Model Development for Healthy Batteries, IEEE Journal of Emerging Technologies, Special Issue on Transportation and Electrification, Vol.2, No. 3, 2014.
R. Ahmed, El Sayed, I. Arasaratnam, J. Tjong, and S. Habibi, Reduced-Order Electrochemical Model Parameters Identification and SOC Estimation for Healthy and Aged Li-Ion Batteries. Part II: Aged Battery Model and State of Charge Estimation, IEEE Journal of Emerging Technologies, Special Issue on Transportation and Electrification, Vol.2, No. 3, 2014.
S. A. Gadsden, S. Habibi, and T. Kirubarajan, Kalman and Smooth Variable Structure Filters for Robust Estimation, IEEE Transactions on Aerospace and Electronic Systems, Vol. 50, No. 2, April 2014.
S. A. Gadsden, M. Al-Shabi, I. Arasaratnam, and S. Habibi, Combined Cubature Kalman and Smooth Variable Structure Filtering: A Robust Estimation Strategy, Signal Processing, Vol. 96, Part B, March 2014.
S. A. Gadsden, Y. Song, and S. Habibi, Novel Model-Based Estimators for the Purposes of Fault Detection and Diagnosis, IEEE/ASME Transactions on Mechatronics, Vol. 18, No. 4, August 2013.
S. A. Gadsden and S. Habibi, Model-Based Fault Detection of a Battery System in a Hybrid Electric Vehicle, Journal of Energy and Power Engineering, Vol. 7, No. 7, July 2013.
M. Al-Shabi, S. A. Gadsden, and S. Habibi, Kalman Filtering Strategies Utilizing the Chattering Effects of the Smooth Variable Structure Filter, Signal Processing, Vol. 93, No. 2, February 2013.
S. A. Gadsden and S. Habibi, A New Robust Filtering Strategy for Linear Systems, ASME Journal of Dynamic Systems, Measurements and Control, Vol. 135, No. 1, January 2013.
S. A. Gadsden, D. Dunne, S. Habibi, and T. Kirubarajan, Nonlinear Estimation Techniques Applied on Target Tracking Problems, ASME Journal of Dynamic Systems, Measurements and Control, Vol. 134, No. 5, September 2012.
S. A. Gadsden, S. Habibi, and T. Kirubarajan, The Smooth Particle Variable Structure Filter, Transactions of the Canadian Society for Mechanical Engineering, Vol. 36, No. 2, June 2012.
S. A. Gadsden, M. Al-Shabi, and S. Habibi, Estimation Strategies for the Condition Monitoring of a Battery System in a Hybrid Electric Vehicle, ISRN Signal Processing, February 2011.
S. A. Gadsden, D. Dunne, S. R. Habibi, and T. Kirubarajan, Nonlinear Estimation Techniques Applied on Target Tracking Problems, Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Vol. 134, No. 5, September, 2012.
M. Al-Shabi, S. A. Gadsden, and S. R. Habibi, Kalman Filtering Strategies Utilizing the Chattering Effects of the Smooth Variable Structure Filter, Signal Processing, Vol. 93, No. 2, 2013.
M. El Sayed and S. R. Habibi, Inner-Loop Control for Electro-Hydraulic Actuation (EHA) Systems, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 134, No. 1, 2011.
S. A. Gadsden, M. Al-Shabi, and S. R. Habibi, Estimation Strategies for the Condition Monitoring of a Battery System in a Hybrid Electric Vehicle, ISRN Signal Processing, Vol. 2011, Article ID 120351, 2011.
M. Al-Shabi and S. R. Habibi, Iterative Smooth Variable Structure Filter for Parameter Estimation, ISRN Signal Processing, Vol. 2011, Article ID 725108, 2011.

Conference Papers

H. H. Afshari, R. Ahmed, M. Farag, and S. Habibi, Dynamic Analysis of a Li-Iron Phosphate Cell Using the Electro-Chemical Modelling Approach, 2016 ITEC/IEEE Transportation Electrification Conference and Expo, Dearborn, Michigan, USA, June 2016.
H. H. Afshari, M. Attari, R. Ahmed, S. Habibi, Modeling, Parameterization, and State of Charge Estimation of Li-Ion Cells Using a Circuit Model, 2016 ITEC/IEEE Transportation Electrification Conference and Expo, Dearborn, Michigan, USA, June 2016.
S. A. Gadsden, H. H. Afshari, and S. Habibi, Development of a Sliding Mode Controller and Higher-Order Structure-Based Estimator, 2016 ITEC/IEEE Transportation Electrification Conference and Expo, Dearborn, Michigan, USA, June 2016.
H. H. Afshari, S. A. Gadsden, R. Ahmed, and S. Habibi, State of Charge Estimation of Li-Ion Batteries Using the Dynamic 2nd Order Smooth Variable Structure Filter, 25th Canadian Congress of Applied Mechanics (CANCAM 2015) London, Ontario, Canada, 2015.
H. H. Afshari, S. A. Gadsden, and S. Habibi, Condition Monitoring of an Electro-Hydrostatic Actuator Using the Dynamic 2nd-order Smooth Variable Structure Filter, ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, DETC2015-47436, Boston, Massachusetts, USA, 2015.
M. Attari, H. H. Afshari, and S. Habibi, Maneuvering Car Tracking Using the Interacting Multiple Model and the Dynamic 2nd-order SVSF Method, ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, DETC2015-47375, Boston, Massachusetts, USA, 2015.
S. A. Gadsden, H. H. Afshari, S. Habibi, Development of a Sliding Mode Controller and Higher-Order Structure-Based Estimator, 2016 ITEC/IEEE Transportation Electrification Conference and Expo, Dearborn, Michigan, USA, June 2016.
H. H. Afshari, R. Ahmed, and S. Habibi, State of Charge Estimation of Li-Ion Batteries Using the Dynamic 2nd-Order Smooth Variable Structure Filter, Proceedings of the 25th Canadian Conference of Applied Mechanics (CANCAM), London, Ontario, Canada, 2015.
H. H. Afshari, and S. Habibi, Robustness Analysis of Some State Estimation Methods with an Explicit Consideration of Modeling Uncertainties, 28th IEEE Canadian Conference on Electrical and Computer Engineering, Halifax, Canada, 2015.
H. H. Afshari, D. Al-Ani, and S. Habibi, State Estimation of a Faulty Actuator Using the Second-Order Smooth Variable Structure Filter (the 2nd-order SVSF), 28th IEEE Canadian Conference on Electrical and Computer Engineering, Halifax, Canada, 2015.
H. H. Afshari, D. Al-Ani, and S. Habibi, Fault Prognosis of Roller Bearings Using the Adaptive Auto-Step Reinforcement Learning Technique botic Manipulators Using a Tuned PID Approach , ASME 2014 International Mechanical Engineering Congress & Exposition, IMECE2014-36052, Montreal, Quebec, Canada, 2014.
M. Attari, and S. Habibi, Automotive Tracking Techniques Using a New IMM based PDA-SVSF , International Mechanical Engineering Congress and Exposition (IMECE), Montreal, QC, November 14-20, 2014.
M. Attari, S. A. Gadsden, S. Habibi, A Multi-Target Tracking Formulation of the SVSF with the Joint Probabilistic Data Association Technique , ASME 2014 Dynamic Systems and Control Conference (DSCC), San Antonio, TX, October 22-24, 2014.
M. Attari, S. A. Gadsden, S. Habibi, Target Tracking Formulation of the SVSF as a Probabilistic Data Association Algorithm , American Control Conference (ACC2013), Washington D.C., June 17-19, 2013.
I. Arasaratnam, J. Tjong, R. Ahmed, and S. Habibi, Adaptive Temperature Monitoring for Battery Thermal Management , SAE World Congress, Detroit, MI, USA, 2013.
I. Arasaratnam, R. Ahmed, El-Sayed,M., S. Habibi, and J. Tjong, Li-Ion Battery SOC Estimation Using a Bayesian Tracker , SAE World Congress and Exhibition, Detroit, MI, USA, 2013.
W. Zhang, S. A. Gadsden, and S. R. Habibi, A Wavelet-Based Smooth Variable Structure Filter, ASME Dynamic Systems and Control Conference (DSCC), Ft. Lauderdale, Florida, 2012.
Y. Song, S. A. Gadsden, S. A. Delbari, and S. R. Habibi, System Modelling and Bulk Modulus Estimation of an Electrohydrostatic Actuator, Bath/ASME Symposium on Fluid Power and Motion Control (FPMC), Bath, England, 2012.
M. A. El Sayed, S. A. Gadsden, and S. R. Habibi, A Sliding Mode Controller Based on the Interacting Multiple Model Strategy, Bath/ASME Symposium on Fluid Power and Motion Control (FPMC), Bath, England, 2012.
M. Farag, R. Ahmed, S. A. Gadsden, S. R. Habibi, and J. Tjong, A Comparative Study of Li-ion Battery Models and Nonlinear Dual Estimation Strategies, IEEE Transportation Electrification Conference and Expo (ITEC), Dearborn, Michigan, USA, 2012.
R. M. Ahmed, S. A. Gadsden, M. A. El Sayed, S. R. Habibi, and J. Tjong, A Signal-Based Fault Detection and Classification Strategy with Application to an Internal Combustion Engine, IEEE Transportation Electrification Conference and Expo (ITEC), Dearborn, Michigan, USA, 2012.
S. A. Gadsden, Y. Song, and S. R. Habibi, Mathematical Modeling and Fault Detection and Diagnosis of an Electrohydrostatic Actuator, 2012 American Control Conference, Montreal, Quebec, Canada, 2012.
S. A. Gadsden, Y. Song, K. R. McCullough, and S. R. Habibi, Friction Fault Detection of an Electrohydrostatic Actuator, ASME Dynamic Systems and Control Conference (DSCC) and the Bath/ASME Symposium on Fluid Power and Motion Control (FPMC), Washington D.C., 2011.
S. A. Gadsden, D. Dunne, S. R. Habibi, and T. Kirubarajan, Combined Particle and Smooth Variable Structure Filtering for Nonlinear Estimation Problems, 14th International Conference on Information Fusion, Chicago, Illinois, 2011.
S. A. Gadsden and S. R. Habibi, Model-Based Fault Detection of a Battery System in a Hybrid Electric Vehicle, IEEE Vehicle Power and Propulsion Conference (VPPC), Chicago, Illinois, 2011.
S. A. Gadsden, M. El Sayed, and S. R. Habibi, The Continuous-Time Smooth Variable Structure Filter, 23rd Canadian Congress of Applied Mechanics (CANCAM), Vancouver, British Columbia, 2011.
R. M. Ahmed, S. A. Gadsden, M. El Sayed, and S. R. Habibi, Fault Detection and Classification of an Electrohydrostatic Actuator Using a Neural Network Trained by the Smooth Variable Structure Filter, 23rd Canadian Congress of Applied Mechanics (CANCAM), Vancouver, British Columbia, 2011.
S. A. Gadsden, M. El Sayed, and S. R. Habibi, Derivation of an Optimal Boundary Layer Width for the Smooth Variable Structure Filter, 2011 American Control Conference, San Francisco, California, USA, 2011.
S. A. Gadsden, K. McCullough, and S. R. Habibi, Fault Detection and Diagnosis of an Electrohydrostatic Actuator Using a Novel Interacting Multiple Model Approach, 2011 American Control Conference, San Francisco, California, USA, 2011.
S. A. Gadsden, D. Dunne, R. Tharmarasa, S. R. Habibi, and T. Kirubarajan, Application of the Smooth Variable Structure Filter to a Multi-Target Tracking Problem, Signal Processing, Sensor Fusion, and Target Recognition, Society of Photo-Optical Instrumentation Engineers (SPIE), Orlando, Florida, 2011.
S. A. Gadsden and S. R. Habibi, Derivation of the Smooth Variable Structure Information Filter, International Mechanical Engineering Congress and Exposition (IMECE), American Society of Mechanical Engineers, Vancouver, British Columbia, 2010.
S. A. Gadsden, M. Al-Shabi, and S. R. Habibi, Estimation Of An Electrohydrostatic Actuator Using A Combined Cubature Kalman and Smooth Variable Structure Filter, International Mechanical Engineering Congress and Exposition (IMECE), American Society of Mechanical Engineers, Vancouver, British Columbia, 2010.
S. A. Gadsden, and S. R. Habibi, A New Form of the Smooth Variable Structure Filter with a Covariance Derivation, IEEE Conference on Decision and Control (CDC), Atlanta, Georgia, 2010.
M. El Sayed and S. R. Habibi, Multiple Sliding Mode Control for an Electrohydraulic Actuator System, Bath/ASME Symposium on Fluid Power and Motion Control (FPMC 2010), Bath, UK, 2010.
S. A. Gadsden, S. R. Habibi, and T. Kirubarajan, A Novel Interacting Multiple Model Method for Target Tracking, 13th International Conference on Information Fusion, Edinburgh, UK, 2010.
V. Jouppila, S. A. Gadsden, and A. Ellman, Modeling and Identification of a Pneumatic Muscle Actuator System Controlled by an On/Off Solenoid Valve, 7th International Fluid Power Conference (IFP), Aachen, Germany, 2010.
S. A. Gadsden and S. R. Habibi, Target Tracking Using the Smooth Variable Structure Filter, Dynamic Systems and Control Conference (DSCC), American Society of Mechanical Engineers, Hollywood, California, 2009.
M. El Sayed and S. R. Habibi, Inner-Loop Control for Electro-Hydraulic (EHA) Systems, Dynamic Systems and Control Conference (DSCC), American Society of Mechanical Engineers, Hollywood, California, 2009.
S. A. Gadsden, D. Dunne, S. R. Habibi, and T. Kirubarajan, Comparison of Extended and Unscented Kalman, Particle, and Smooth Variable Structure Filters on a Bearing-Only Target Tracking Problem, Signal and Data Processing of Small Targets, Society of Photo-Optical Instrumentation Engineers (SPIE), San Diego, California, 2009.
V. Jouppila, S. A. Gadsden, G. Bone, and S. R. Habibi, Sliding Mode Controller and Filter Applied to a Pneumatic McKibben Muscle Actuator, International Mechanical Engineering Congress and Exposition (IMECE), American Society of Mechanical Engineers, Lake Buena Vista, Florida, 2009.
S. A. Gadsden, D. Mohammed, and M. Al-Shabi, Regularized Least Squares: A Useful (Forgotten) Tool for Supervised and Semi-Supervised Learning, The 13th World Multi-Conference on Systemics, Cybernetics and Informatics (WMSCI), Orlando, Florida, 2009.
S. A. Gadsden and S. R. Habibi, The Future of Automobiles: Cognitive Cars, 22nd Canadian Congress of Applied Mechanics (CANCAM), Halifax, Nova Scotia, 2009.
S. A. Gadsden and S. R. Habibi, Aircraft Tracking Using a Radar and the Smooth Variable Structure Filter, 22nd Canadian Congress of Applied Mechanics (CANCAM), Halifax, Nova Scotia, 2009.
S. A. Gadsden and S. R. Habibi, Aerodynamic Flutter and Flight Surface Actuation, International Mechanical Engineering Congress and Exposition (IMECE), American Society of Mechanical Engineers, Seattle, Washington, 2007.
S. A. Gadsden, A Brief History and Philosophy of Mechanics, 21st Canadian Congress of Applied Mechanics (CANCAM), Toronto, Ontario, 2007.
S. A. Gadsden and S. R. Habibi, Effects of Aerodynamic Flutter on a Flight Surface Actuator, 21st Canadian Congress of Applied Mechanics (CANCAM), Toronto, Ontario, 2007.

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Centre for Mechatronics & Hybrid Technologies
McMaster Automotive Resource Centre (MARC)
200 Longwood Road South, Unit 224,
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Canada L8P 0A6

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