Martin Marie Hubert Choux

• Choux, Martin Marie Hubert; Pripp, Simon Waldemar; Kvalnes, Frode & Hellström, Magnus Mikael (2024). To shred or to disassemble – A techno-economic assessment of automated disassembly vs. shredding in lithium-ion battery module recycling. Resources, Conservation and Recycling. ISSN 0921-3449. 203. doi: 10.1016/j.resconrec.2024.107430. Vis sammendrag

  The global adoption of electric vehicles (EVs) is driving a surge in the use of lithium-ion batteries (LIBs), creating an urgent need for sophisticated recycling techniques to recover valuable materials and manage waste. Particularly, automating the laborintensive disassembly process is critical for scaling up recycling efforts. This study provides a techno-economic evaluation of a robotic line for disassembling EV LIB modules, exploring whether it's more profitable to extend automation to the cell level. Three different EV modules are examined, and several scenarios are proposed, showing that investments in robotic disassembly could be financially sound, particularly with the anticipated rise in end-of-life EV LIBs. The key to profitability lies in disassembling to the cell level, which enables the recovery of more valuable materials and reduces downstream processing requirements. This research offers practical guidelines for automating the disassembly process in line with future waste management demands.

• Bilal, Muhammad Talha; Tyapin, Ilya & Choux, Martin Marie Hubert (2023). Fusion of Multiview Images for EV Battery Disassembly. I Zhou, Jing (Red.), 2023 11th International Conference on Control, Mechatronics and Automation (ICCMA). IEEE conference proceedings. ISSN 979-8-3503-1568-4. s. 19–24. doi: 10.1109/ICCMA59762.2023.10374794. Vis sammendrag

  Automation in Electric Vehicle (EV) Li-Ion Battery (LIB) pack disassembly is getting a lot of attraction with increased number of EVs being manufactured. Highly cluttered components placed in complex configurations present a unique challenge for object detection models. To get maximum coverage of the components in the EV battery pack, images from multiple viewpoints are considered and merged using Multiple-View Super Resolution (MVSR). The proposed method provides 7% higher accuracy in the screw detection task than the statistical methods previously derived [[1]].

• Bilal, Muhammad Talha; Tyapin, Ilya & Choux, Martin Marie Hubert (2022). Enhancing Object Localization Accuracy by using Multiple Camera Viewpoints for Disassembly Systems, IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society. IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-6654-8025-3. doi: 10.1109/IECON49645.2022.9968575. Vis sammendrag

  The number of images taken from different view-points plays an important role in the accuracy of object detection in cluttered scenarios. Considering Electric Vehicles battery pack disassembly task, which is a highly dense clutter, a framework is proposed to approximate the number of viewpoints to acquire the accuracy of 3.82 mm in screw detection. The paper explores two methods of image acquisition i) taking multiple 3D images, and ii) taking one 3D image and multiple 2D images and combines it with two methods of image processing i) marking the exact visible center of the screw for calculation, and ii) using a bounding box to mark the screw and calculating the center by intersecting diagonals. The results show that using eight viewpoints with a reliable 3D camera delivers the optimal results.

• Szabo, Vera; Ebrahimi, Saeed Hasan; Choux, Martin Marie Hubert & Goodwin, Morten (2022). ITSC Fault Diagnosis in Permanent Magnet Synchronous Motor Drives Using Shallow CNNs. I Boracchi, Giacomo; Iliadis, Lazaros; Jayne, Chrisina & Likas, Aristidis (Red.), Engineering Applications of Neural Networks - 18th International Conference, EANN 2017. Springer. ISSN 978-3-319-65171-2. s. 177–189. doi: 10.1007/978-3-031-08223-8_15. Vis sammendrag

  Due to its features, permanent magnet synchronous motor (PMSM) has gained popularity and is used in various industrial applications, including those with high downtime costs like offshore equipment. Inter-turn short-circuit (ITSC) fault is one of the most typical PMSM faults and therefore is its early diagnostics in real-time highly valuable. Solving the problem using conventional signal, model-based, or data-driven approaches faces challenges such as computational complexity, time demand, or need for detailed domain expertise. This paper presents a computationally simple, robust, and accurate method based on the 2D convolutional neural network (CNN). The proposed data-driven model has first been validated with the help of experimental data obtained from an inverter fed PMSM subject to ITSC faults in different time intervals, and secondly its performances have been compared to a model-based structural analysis approach using Dulmage-Mendelsohn decomposition tool. The comparison is based on the same data. Results show that the accuracy of the CNN model for diagnosing early faults is more than 98% without doing additional comprehensive fine-tuning. In addition, the paper presents a robust method that can be successfully used as a metric for fast fault detection benchmark.

• Brådland, Henrik; Choux, Martin Marie Hubert & Cenkeramaddi, Linga Reddy (2022). Point Cloud Instance Segmentation for Automatic Electric Vehicle Battery Disassembly. I Sanfilippo, Filippo; Granmo, Ole-Christoffer; Yildirim Yayilgan, Sule & Bajwa, Imran Sarwar (Red.), Intelligent Technologies and Applications: 4th International Conference, INTAP 2021, Grimstad, Norway, October 11–13, 2021, Revised Selected Papers. Springer. ISSN 978-3-031-10524-1. s. 247–258. doi: 10.1007/978-3-031-10525-8_20. Vis sammendrag

  This paper describes a novel design based on recent 3D perception methods for capturing point clouds and segmenting instances of cabling found on electric vehicle battery packs. The use of cutting-edge perception algorithm architectures, such as graph-based and voxel-based convolution, in industrial autonomous lithium-ion battery pack disassembly is investigated. The proposed approach focuses on the challenge of getting a desirable representation of any battery pack using an industrial robot in conjunction with a high-end structured light camera, with “end-to-end” and “model-free” as design constraints. The proposed design employs self-captured datasets comprised of several battery packs that have been captured and labeled. Following that, the datasets are used to create a perception system. Based on the results, graph-based deep-learning algorithms have been shown to be capable of being scaled up to 50, 000 inputs while still exhibiting strong performance in terms of accuracy and processing time. The results show that an instance segmenting system can be implemented in less than two seconds. Using off-the-shelf hardware, we demonstrate that a 3D perception system is industrially viable and competitive as compared to a 2D perception system (The different algorithms studied in this article are implemented in Python and can be obtained through the following link: https://github.com/HenrikBradland-Nor/intap21).

• Ebrahimi, Saeed Hasan; Choux, Martin Marie Hubert & Huynh, Khang (2022). Real-Time Detection of Incipient Inter-Turn Short Circuit and Sensor Faults in Permanent Magnet Synchronous Motor Drives Based on Generalized Likelihood Ratio Test and Structural Analysis. Sensors. ISSN 1424-8220. 22(9). doi: 10.3390/s22093407. Fulltekst i vitenarkiv Vis sammendrag

  This paper presents a robust model-based technique to detect multiple faults in permanent magnet synchronous motors (PMSMs), namely inter-turn short circuit (ITSC) and encoder faults. The proposed model is based on a structural analysis, which uses the dynamic mathematical model of a PMSM in an abc frame to evaluate the system’s structural model in matrix form. The just-determined and over-determined parts of the system are separated by a Dulmage–Mendelsohn decomposition tool. Subsequently, the analytical redundant relations obtained using the over-determined part of the system are used to form smaller redundant testable sub-models based on the number of defined fault terms. Furthermore, four structured residuals are designed based on the acquired redundant sub-models to detect measurement faults in the encoder and ITSC faults, which are applied in different levels of each phase winding. The effectiveness of the proposed detection method is validated by an in-house test setup of an inverter-fed PMSM, where ITSC and encoder faults are applied to the system in different time intervals using controllable relays. Finally, a statistical detector, namely a generalized likelihood ratio test algorithm, is implemented in the decision-making diagnostic system resulting in the ability to detect ITSC faults as small as one single short-circuited turn out of 102, i.e., when less than 1% of the PMSM phase winding is short-circuited.

• Choux, Martin Marie Hubert; Bigorra, Eduard Marti & Tyapin, Ilya (2021). Task Planner for Robotic Disassembly of Electric Vehicle Battery Pack. Metals. ISSN 2075-4701. 11(3). doi: 10.3390/met11030387. Fulltekst i vitenarkiv
• Ebrahimi, Saeed Hasan; Choux, Martin Marie Hubert & Huynh, Khang (2021). Detection and Discrimination of Inter-Turn Short Circuit and Demagnetization Faults in PMSMs Based on Structural Analysis, 22nd IEEE International Conference on Industrial Technology (ICIT) . IEEE conference proceedings. ISSN 978-1-7281-5730-6. s. 184–189. doi: 10.1109/ICIT46573.2021.9453557.
• Ebrahimi, Saeed Hasan; Choux, Martin Marie Hubert & Huynh, Khang (2021). Diagnosis of Sensor Faults in PMSM and Drive System Based on Structural Analysis, 2021 IEEE International Conference on Mechatronics (ICM). IEEE conference proceedings. ISSN 978-1-7281-4443-6. doi: https:/doi.org/10.1109/ICM46511.2021.9385663.
• Golzar, Milad; Kandukuri, Surya Teja; Huynh, Khang; Choux, Martin Marie Hubert & Versland, Alf Magne (2020). A Novel Fault Indicator for Local Demagnetization in Fractional-Slot Permanent Magnet Synchronous Motor using Winding Function Theory. Proceedings of the European Conference of the Prognostics and Health Management Society (PHME). ISSN 2325-016X. Fulltekst i vitenarkiv
• Ebrahimi, Saeed Hasan; Choux, Martin Marie Hubert & Huynh, Khang (2020). Modeling Stator Winding Inter-Turn Short Circuit Faults in PMSMs including Cross Effects. I Liu, Yujing (Red.), Proc. 2020 International Conference on Electrical Machines (ICEM). IEEE conference proceedings. ISSN 978-1-7281-9945-0. doi: 10.1109/ICEM49940.2020.9270890. Fulltekst i vitenarkiv
• Hagen, Daniel; Padovani, Damiano & Choux, Martin Marie Hubert (2020). Guidelines to Select Between Self-Contained Electro-Hydraulic and Electro-Mechanical Cylinders, 15th IEEE Conference on Industrial Electronics and Applications. Institute of Electrical and Electronics Engineers (IEEE). ISSN 978-1-7281-5168-7. s. 547–554. doi: 10.1109/ICIEA48937.2020.9248373. Fulltekst i vitenarkiv
• Golzar, Milad; Huynh, Khang; Choux, Martin Marie Hubert & Midtbø Versland, Alf Magne (2019). Experimental Investigation of Efficiency Map for an Inverter-Fed Surface-Mount Permanent Magnet Synchronous Motor , 2019 8th International Conference on Renewable Energy Research and Applications (ICRERA). IEEE conference proceedings. ISSN 978-1-7281-3587-8. doi: 10.1109/ICRERA47325.2019.8996549.
• Hagen, Daniel; Padovani, Damiano & Choux, Martin Marie Hubert (2019). A Comparison Study of a Novel Self-Contained Electro-Hydraulic Cylinder versus a Conventional Valve-Controlled Actuator—Part 2: Energy Efficiency . Actuators. ISSN 2076-0825. 8(4). doi: 10.3390/ACT8040078. Fulltekst i vitenarkiv
• Hagen, Daniel; Padovani, Damiano & Choux, Martin Marie Hubert (2019). A Comparison Study of a Novel Self-Contained Electro-Hydraulic Cylinder versus a Conventional Valve-Controlled Actuator—Part 1: Motion Control . Actuators. ISSN 2076-0825. 8(4). doi: 10.3390/ACT8040079. Fulltekst i vitenarkiv
• Hagen, Daniel; Padovani, Damiano & Choux, Martin Marie Hubert (2019). Design and Implementation of Pressure Feedback for Load-Carrying Applications with Position Control. I Huhtala, Kalevi; Tikkanen, Seppo & Uusi-Heikkilä, Janne (Red.), The Sixteenth Scandinavian International Conference on Fluid Power, SICFP19: Proceedings. Tampere University of Technology. ISSN 978-952-03-1302-9. s. 520–534.
• Hagen, Daniel; Padovani, Damiano & Choux, Martin Marie Hubert (2019). Enabling Energy Savings in Offshore Mechatronic Systems by using Self-Contained Cylinders. MIC Journal: Modeling, Identification and Control. ISSN 0332-7353. 40(2), s. 89–108. doi: 10.4173/mic.2019.2.2. Fulltekst i vitenarkiv
• Pawlus, Witold; Hansen, Michael Rygaard; Choux, Martin Marie Hubert & Hovland, Geir (2016). Mitigation of Fatigue Damage and Vibration Severity of Electric Drivetrains by Systematic Selection of Motion Profiles. IEEE/ASME transactions on mechatronics. ISSN 1083-4435. 21(6), s. 2870–2880. doi: 10.1109/TMECH.2016.2573587.
• Pawlus, Witold; Choux, Martin Marie Hubert; Hansen, Michael Rygaard & Hovland, Geir (2016). Load torque estimation method to design electric drivetrains for offshore pipe handling equipment. Journal of Offshore Mechanics and Arctic Engineering. ISSN 0892-7219. 138(4). doi: 10.1115/1.4032897.
• Pawlus, Witold; Choux, Martin Marie Hubert & Hansen, Michael Rygaard (2016). Hydraulic vs. electric: A review of actuation systems in offshore drilling equipment. MIC Journal: Modeling, Identification and Control. ISSN 0332-7353. 37(1), s. 1–17. doi: 10.4173/mic.2016.1.1.
• Pawlus, Witold; Ebbesen, Morten Kjeld; Hansen, Michael Rygaard; Choux, Martin Marie Hubert & Hovland, Geir (2016). Comparative analysis of numerical models of pipe handling equipment used in offshore drilling applications. AIP Conference Proceedings. ISSN 0094-243X. 1738. doi: 10.1063/1.4952158.
• Pawlus, Witold; Kandukuri, Surya Teja; Hovland, Geir; Choux, Martin Marie Hubert & Hansen, Michael Rygaard (2016). EKF-based estimation and control of electric drivetrain in offshore pipe racking machine, 2016 IEEE International Conference on Industrial Technology (ICIT). IEEE (Institute of Electrical and Electronics Engineers). ISSN 978-1-4673-8075-1. s. 153–158. doi: 10.1109/ICIT.2016.7474742.
• Pawlus, Witold; Hansen, Michael Rygaard; Hovland, Geir & Choux, Martin Marie Hubert (2015). Torque Peak Reduction and Overload Monitoring of Induction Motors in Offshore Drilling Operations, ACEMP 2015 Optim - Electromotion Joint Conference. IEEE Press. ISSN 978-1-4673-7240-4. s. 393–398. doi: 10.1109/OPTIM.2015.7426962.
• Pawlus, Witold; Frick, Damian; Morari, Manfred; Hovland, Geir & Choux, Martin Marie Hubert (2015). Drivetrain Design Optimization for Electrically Actuated Systems via Mixed Integer Programing, Proceedings IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. IEEE conference proceedings. ISSN 978-1-4799-1761-7. s. 1465–1470. doi: 10.1109/IECON.2015.7392307.
• Pawlus, Witold; Choux, Martin Marie Hubert; Hovland, Geir; Hansen, Michael Rygaard & Søren, Øydna (2014). Modeling and Simulation of An Offshore Pipe Handling Machine. I Rezania Kolaei, Alireza (Red.), The 55th Conference on Simulation and Modelling (SIMS 55) Proceedings. Linköping Electronic Conference Proceedings. ISSN 9789175193762. s. 277–284. doi: 10.1063/1.4952158.
• Pawlus, Witold Pawel; Choux, Martin Marie Hubert; Hovland, Geir & Huynh, Khang (2014). Parameters Identification of Induction Motor Dynamic Model for Offshore Applications, 2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications(MESA). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781479922802. doi: 10.1109/MESA.2014.6935555.
• Choux, Martin Marie Hubert; Tyapin, Ilya & Hovland, Geir (2012). Extended friction model of a hydraulic actuated system, Reliability and Maintainability Symposium (RAMS), 2012 Proceedings. IEEE conference proceedings. ISSN 978-1-4577-1851-9. doi: 10.1109/rams.2012.6175517. Vis sammendrag

  The main contribution of this paper is an experimental validation and comparison of three different friction models for an electro-hydraulic servo system. The first is the wellknown LuGre model which incorporates dynamic friction effects. The second model is based on a relatively recent publication by Yanada in 2008 [6], which incorporates liquid film thickness in the servo valve. The third model is a new contribution presented in this paper, where valve underlap and mass acceleration are combined with the LuGre model. The experimental results show that for hydraulic systems, the film thickness model is an improvement over the LuGre model, while the new model presented in this paper is an improvement over both the LuGre and the film thickness models. An accurate friction model is an important tool for reliability engineers when distinguishing maintenance related degradation from dynamic effects.

• Choux, Martin Marie Hubert; Tyapin, Ilya & Hovland, Geir (2012). Leakage-detection in blade pitch control systems for wind turbines, Reliability and Maintainability Symposium (RAMS), 2012 Proceedings. IEEE conference proceedings. ISSN 978-1-4577-1851-9. doi: 10.1109/rams.2012.6175515. Vis sammendrag

  The main contribution of the work is a systematic study evaluating the performance of different filters for leakage detection in pitch control systems. The effectiveness of the proposed methods is examined in a Matlab/Simulink real-time environment. The test bed consists of the following elements: hydraulic power unit, servo valve, two leakage bypasses, hydraulic cylinder, payload and xPC-based control system. The filters are tested with the state-augmentation and the hypothesis testing approaches. To our knowledge, the comparison of these different approaches has not been done previously for this type of application. The paper concludes on the accuracy and sensitivity of the leakage detection as well as the computational complexity and the real-time performance.

• Choux, Martin Marie Hubert; Hovland, Geir & Blanke, Mogens (2012). Cascade Controller Including Backstepping for Hydraulic-Mechanical Systems. I Imsland, Lars Struen (Red.), 2012 IFAC Workshop on Automatic Control in Offshore Oil and Gas Production : Norwegian University of Science and Technology 31.5-1.6 2012. Elsevier. ISSN 978-3-902661-99-9. doi: 10.3182/20120531-2-no-4020.00046. Vis sammendrag

  Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adaptive backstepping tracking controller with earlier results. The new control architecture is analysed and enhanced tracking performance is demonstrated when including the extended friction model. The complexity of the backstepping procedure is significantly reduced due to the cascade structure. Hence, the proposed control structure is better suited to real-time implementation.

• Haaø, Jørgen; Vangen, Steffen; Tyapin, Ilya; Choux, Martin Marie Hubert; Hovland, Geir & Hansen, Michael Rygaard (2012). The Effect of Friction in Passive and Active Heave Compensation of Crown Block Mounted Compensators. I Imsland, Lars Struen (Red.), 2012 IFAC Workshop on Automatic Control in Offshore Oil and Gas Production : Norwegian University of Science and Technology 31.5-1.6 2012. Elsevier. ISSN 978-3-902661-99-9. doi: 10.3182/20120531-2-no-4020.00040. Vis sammendrag

  This paper studies the effects of friction model during passive and active heave compensation of offshore drilling equipment. The main purpose of heave compensation while drilling from vessels or semi-submersible platforms is to maintain the drilling operation unaffected by the wave induced motion. The investigated system is of an existing crown mounted compensator. A model of the system is developed which includes mechanics, hydraulics and pneumatics. The passive heave compensation scheme is described including force equalising hydraulic cylinders. In this paper the detrimental effect of friction on the heave compensation performance in both passive and active heave compensation is investigated and discussed.

• Choux, Martin Marie Hubert & Blanke, Mogens (2011). Fault Diagnosis for Nonlinear Hydraulic-Mechanical Drilling Pipe Handling System, Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011). IEEE conference proceedings. ISSN 978-1-61284-799-3. s. 1620–1626. doi: 10.1109/cdc.2011.6161363. Vis sammendrag

  Leakage and increased friction are common faults in hydraulic cylinders that can have serious consequences if they are not detected at early stage. In this paper, the design of a fault detector for a nonlinear hydraulic mechanical system is presented. By considering the system in steady state, two residual signals are generated and analysed with a composite hypothesis test which accommodates for unknown parameters. T he resulting detector is able to detect abrupt changes in leakage or friction given the noisy pressure and position measurements. Test rig measurements validate the properties of residuals and high fidelity simulation and experimental results demonstrate the performance and feasibility of the proposed method.

• Choux, Martin Marie Hubert & Hovland, Geir (2010). Adaptive Backstepping Control of Nonlinear Hydraulic-Mechanical System Including Valve Dynamics. MIC Journal: Modeling, Identification and Control. ISSN 0332-7353. 31(1), s. 35–44. doi: 10.4173/mic.2010.1.3. Vis sammendrag

  The main contribution of the paper is the development of an adaptive backstepping controller for a nonlinear hydraulic-mechanical system considering valve dynamics. The paper also compares the performance of two variants of an adaptive backstepping tracking controller with a simple PI controller. The results show that the backstepping controller considering valve dynamics achieves significantly better tracking performance than the PI controller, while handling uncertain parameters related to internal leakage, friction, the orifice equation and oil characteristics.

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• Szabo, Vera; Ebrahimi, Saeed Hasan; Choux, Martin Marie Hubert & Goodwin, Morten (2022). ITSC Fault Diagnosis in Permanent Magnet Synchronous Motor Drives Using Shallow CNNs.
• Brådland, Henrik; Choux, Martin Marie Hubert & Cenkeramaddi, Linga Reddy (2021). Point Cloud Instance Segmentation for Automatic Electric Vehicle Battery Disassembly.
• Fässler, Bernhard; Choux, Martin Marie Hubert & Wrålsen, Benedikte (2019). Trailblazing Resource Management Through the Upcoming Battery Wave.
• Wrålsen, Benedikte; Fässler, Bernhard; Choux, Martin Marie Hubert & Wrålsen, Benedikte (2019). Batterier og sirkulær økonomi - forskning ved UiA.
• Choux, Martin Marie Hubert (2019). Towards Automatic Disassembly of EV-batteries.
• Robbersmyr, Kjell Gunnar; Choux, Martin Marie Hubert; Zhou, Jing & Knausgård, Kristian Muri (2018). Mekatronikk.
• Choux, Martin Marie Hubert (2018). New Trends in Mechatronics.
• Pawlus, Witold; Frick, Damian; Morari, Manfred; Hovland, Geir & Choux, Martin Marie Hubert (2015). Drivetrain Design Optimization for Electrically Actuated Systems via Mixed Integer Programing.
• Pawlus, Witold; Ebbesen, Morten Kjeld; Hansen, Michael Rygaard; Choux, Martin Marie Hubert & Hovland, Geir (2015). Comparative Analysis of Numerical Models of Pipe Handling Equipment Used in Offshore Drilling Applications.
• Pawlus, Witold; Hansen, Michael Rygaard; Hovland, Geir & Choux, Martin Marie Hubert (2015). Torque Peak Reduction and Overload Monitoring of Induction Motors in Offshore Drilling Operations.
• Ebrahimi, Saeed Hasan; Choux, Martin Marie Hubert & Huynh, Khang (2023). Real-Time Fault Diagnosis of Permanent Magnet Synchronous Motor and Drive System. Make!Graphics. ISSN 978-82-8427-129-3. Fulltekst i vitenarkiv
• Brådland, Henrik; SØRENSEN, IVER; Cenkeramaddi, Linga Reddy & Choux, Martin Marie Hubert (2021). Using AI and Robotics for EV battery cable detection. Universitetet i Agder.

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