Erik Mikulas

Bio: Erik Mikulas is an academic researcher from Slovak University of Technology in Bratislava. The author has contributed to research in topics: Arduino & Mechatronics. The author has an hindex of 3, co-authored 7 publications receiving 16 citations.

HeatShield: a Low-Cost Didactic Device for Control Education Simulating 3D Printer Heater Blocks

Abstract: This paper proposes a novel open-source didactic device for control systems engineering education that implements the thermal control of a 3D printer heating block as the underlying dynamic process. The teaching aid is built on a printed circuit board copying the physical outline and the standardized electrical connections of the Arduino Uno microcontroller prototyping board. The educational tool described here can be manufactured for a diminutive cost, thus is accessible to students as a take-home experiment. Moreover, it conforms to the design philosophy of the so-called Arduino Shields, thus, it extends the inherent capabilities of the baseboard and may be combined with other available shields. The proposed hardware is augmented by an application programming interface available in C/C++, MATLAB and Simulink. The paper describes the use of this interface and suggests a sample exercise for the grey-box identification of the differential equation representing the system dynamics which was derived by a first-principles approach. The article also acquaints the reader with sample exercises implementing PID control using the various available programming interfaces.

MagnetoShield: Prototype of a Low-Cost Magnetic Levitation Device for Control Education

Abstract: This article presents a prototype reference design for a low-cost miniature magnetic levitation experiment The proposed device is built as an Arduino expansion module, thus may be installed on a broad range of microcontroller prototyping boards The open-source hardware design uses off-the-shelf and widely available components and 3D printing technology, thus its overall material cost is minimal This way, the magnetic levitation experiment is transformed into a pocket laboratory that can be borrowed by students for take-home experiments In addition to the device itself, we present an open-source application programming interface and the outline of classroom examples in modeling, system identification and closed-loop control

Model Predictive Torque Vectoring Control for a Formula Student Electric Racing Car

Abstract: In this paper we present two torque vectoring control algorithms for an electric racing car with independent all-wheel drive. A nonlinear, two-track vehicle model is used for the design of a linear time-varying model predictive controller and a nonlinear model predictive controller, while the unknown system states are estimated by the unscented Kalman filter. The controller has been tested in various simulation scenarios and the obtained results are compared with the case assuming equal torque distribution, i.e., without torque vectoring. The results show that the proposed optimization-based torque vectoring control strategy may effectively stabilize the vehicle at the limits of handling and in this way increase its track performance.

BOBShield: An Open-Source Miniature “Ball and Beam” Device for Control Engineering Education

Abstract: This article presents a reference design for the well-known ball-on-beam laboratory experiment, where a spherical ball without direct actuation is only balanced by the inclination of a supporting structure, such as beam, rail or tube. The design introduced here is completely open-source and utilizes only a handful of off-the-shelf components and 3D printing; resulting in an exceptionally low hardware cost. Moreover, the resulting apparatus fits on a standard expansion module format, known as a Shield, which is compatible with a range of microcontroller prototyping boards from the Arduino ecosystem. This affordable, small, reproducible and open design is thus intended to aid control systems or mechatronics education via hands-on student experiments or even conducting research on a budget. In addition to the hardware design with downloadable project files, we also present an application programming interface and the results of a demonstration example here.

Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Abstract: Direct Yaw Moment Control (DYC) is an effective way to alter the behaviour of electric cars with independent drives. Controlling the torque applied to each wheel can improve the handling performance of a vehicle making it safer and faster on a race track. The state-of-the-art literature covers the comparison of various controllers (PID, LPV, LQR, SMC, etc.) using ISO manoeuvres. However, a more advanced comparison of the important characteristics of the controllers’ performance is lacking, such as the robustness of the controllers under changes in the vehicle model, steering behaviour, use of the friction circle, and, ultimately, lap time on a track. In this study, we have compared the controllers according to some of the aforementioned parameters on a modelled race car. Interestingly, best lap times are not provided by perfect neutral or close-to-neutral behaviour of the vehicle, but rather by allowing certain deviations from the target yaw rate. In addition, a modified Proportional Integral Derivative (PID) controller showed that its performance is comparable to other more complex control techniques such as Model Predictive Control (MPC).

Emerging Hardware Prototyping Technologies as Tools for Learning

Abstract: Integrating hardware prototyping platforms such as Arduino, Raspberry Pi or BeagleBone Board in education is becoming more prevalent as the number of courses utilizing such platforms is continuously increasing. In this work, we conduct an analytical investigation on the plurality of courses that utilize or integrate hardware prototyping platforms. We examine curriculum and instructional material (e.g. course syllabi or outlines) through publicly available web informational resources (e.g. search engines). We use this data to determine the degree to which these platforms are used as effective learning technologies in existing courses. We further use this data to determine hardware platforms integration statistics and distribution based on the number of courses, types of platforms employed and institutions using them as learning technologies. This statistical data can be used to help determine the current status of the utilization and adoption rate of hardware prototyping platforms into courses. In this paper, we present evidence that hardware prototyping technologies are employed as tools for teaching and learning. Based on examining forty five universities worldwide, we determine that there are on average nine unique courses per university which utilize or integrate a variety of these platforms into courses. We also determine that 75% of these courses are Science, Technology, Engineering, and Math- (STEM-) based while 25% are Non-STEM. We further use our findings to provide insights on the extent to which educational institutions are utilizing these platforms as learning technologies and applying project-based or experiential learning approaches as part of their curriculum development.

MagnetoShield: Prototype of a Low-Cost Magnetic Levitation Device for Control Education

Abstract: This article presents a prototype reference design for a low-cost miniature magnetic levitation experiment The proposed device is built as an Arduino expansion module, thus may be installed on a broad range of microcontroller prototyping boards The open-source hardware design uses off-the-shelf and widely available components and 3D printing technology, thus its overall material cost is minimal This way, the magnetic levitation experiment is transformed into a pocket laboratory that can be borrowed by students for take-home experiments In addition to the device itself, we present an open-source application programming interface and the outline of classroom examples in modeling, system identification and closed-loop control

Semi-Active Magnetic Levitation System for Education

Abstract: This paper describes how to construct a low-cost magnetic levitation system (MagLev). The MagLev has been intensively used in engineering education, allowing instructors and students to learn through hands-on experiences of essential concepts, such as electronics, electromagnetism, and control systems. Built from scratch, the MagLev depends only on simple, low-cost components readily available on the market. In addition to showing how to construct the MagLev, this paper presents a semi-active control strategy that seems novel when applied to the MagLev. Experiments performed in the laboratory provide comparisons of the proposed control scheme with the classical PID control. The corresponding real-time experiments illustrate both the effectiveness of the approach and the potential of the MagLev for education.