Name : Azmain Rashid Raiyan

Student ID : 200011101
Section : Mechanical Engineering (ME)

Name : Adnan Sami Dinar

Student ID : 200011106
Section : Mechanical Engineering (ME)

Name : Nafis Bin Shams

Student ID : 200011116
Section : Mechanical Engineering (ME)

Islamic University of Technology Department: Mechanical and Production

Engineering (MPE)
A Mechatronic system for Intelligent Energy
Management
 A MECHATRONIC SYSTEM FOR INTELLIGENT ENERGY MANAGEMENT

Table of Content

Introduction ……………………………………………………………………..,,03
Evolution History………………………………………………………………..,,04
• Development of control system algorithms……………………………....,,04
• Development of Machine Learning………………………………………,,05
• Signal Processing…………………………………………………………,,06
Key elements of the system……………………………………………………..,,06
Sensor……………………………………………………………………………,06
• Temperature sensor………………………………………………………,.06
• Humidity sensor…………………………………………………………,..06
• Light sensor…………………………………………………..……………07
• Motion sensor……………………………………………………….……..07
• Pressure sensor…………………………………………………………….07
• Flow sensor………………………………………………………………..07
• Current and Voltage sensor………………………………………………..08
• Smoke and gas sensor……………………………………………………..08
Actuator…………………………………………………………………………..09
• Linear actuator……………………………………………………………..09
• Rotatory actuator…………………………………………………………..09
• Mechanical actuator………………………………………………………..09
• Pneumatic actuator………………………………………………………....10
• Hydraulic actuator…………………………….…………………………....10
Controller………………………………………………………………………….10
Energy storage…………………………………………………………………….11
• Pumped storage…………………………………………………………….11
• Battery storage……………………………………………………………...11
• Advantages…………………………………………………………………12
Power Electronics…………………………………………………………………12
Software…………………………………………………………………………...12
Communication protocol………………………………………………………….13
Implementation……………………………………………………………………14
• Home Appliances…………………………………………………………..14
• Electric Vehicles……………………………………………………………14
• Integrating renewable energy with IEMS…………………………………..15
Limitations and inconsistencies……………………………………………………15
• Lack of comparative studies……………………………….……...…………15
• Varied system components………………………………………………….16

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 A MECHATRONIC SYSTEM FOR INTELLIGENT ENERGY MANAGEMENT

• Insufficient focus on specific applications…………………………………16

• Limited consideration of external factors………………………………….16
• Installation issue…………………………………………………………...16
• Security…………………………………………………………………….16
• Data Sparsity……………………………………………………………….17
Future Research…………………………………………….……….……….……17
Conclusion………………………….…….…….…………………………………18
Appendix…………………………………………………………………………..19
• Survey results……………………………………………………………….19
References…………………………………………………………………………23

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 A MECHATRONIC SYSTEM FOR INTELLIGENT ENERGY MANAGEMENT

Introduction:

Mechatronics is the branch of engineering which integrates the knowledge and execution of the
principles of mechanical, electrical, computer science, system and control engineering [7]. Over
the years, with the advancement of technologies, the complexity of our day to day lives
problems have also increased. In order to adapt with the current situation and to solve those
problems, the study of the mechatronic system is a must. One of the most common uses of a
mechatronic system in the modern day is the implementation of intelligent energy
management.

Nowadays, with the natural resources slowly diminishing, conservation and proper utilization of
energy is a necessity. The most common technology in use for controlling energy consumption
is the intelligent energy management system. It uses sensors, actuators, control algorithms,
controller units, motors and many other equipment to optimize energy usage. Its prime goal is to
increase energy efficiency, lower energy costs and improve the system performance.

Figure I: A smart home can be implemented by the use of an intelligent energy management
system.

Modern technologies which use such systems are: smart homes, electric vehicles, virtual power
plants, renewable energy systems and green energy resources.

Energy is more expensive to deliver in peak hours since less efficient grids must be run to meet
the demand. Smart appliances schedule their uses such that the use moves away from peak hour
and less power needs to be delivered during peak hour. Thus IEMS increases efficiency.

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When one section of grid gets deactivated due to short circuit, the remaining power gets
redistributed to the remaining loads, one of which may overload causing it to fuse, further
increasing power in the active loads. Thus, a cascaded power outage takes place. IEMS prevents
this by establishing two way communication between homes and grids, informing of local
outages and efficiently redistributing supply.

IEMS(Intelligent Energy Management System) may be bluntly classified into Grid Energy
Management System and Home Energy Management System( Smart Homes). The following
research will mainly be focused on HEMS, its history, components, working principles and
prospects.

Evolution history:

The implementation of the Intelligent Energy Management system has been made possible
because of some groundbreaking inventions in different fields starting from computer science to
electrical engineering. Some of their histories will be discussed in this section while their role in
executing such systems will be discussed in the next section.

• Development of control system algorithm:

Control algorithms aim to develop a model to dictate the utility of the input of a system to
a certain state without any overshoot, time delay and steady state error ensuring a level of
stability.

The development of the control system dates back to the 19th century. Mathematician
James Clerk Maxwell made the first formal analysis in this field in 1868 when he
invented the “Centrifugal Governor” to analyze and describe the phenomenon of self
oscillation. His theory was further advanced by Edward Routhe in 1874. Adolf Hurwitz
showed how to analyze system stability using differential equations in 1877 which is now
known as the Routh-Hurwitz theorem. Wright Brothers in the year of 1903 made their
first test flight and were also distinguished for their flight control system which allowed
the flight to last longer than a few seconds. This was a notable contribution in dynamic
control of a system. In 1922, Nicolas Minorsky gave the PID control theory which is still
of great use till date. During World War II Irmgard Flugge-Lotz developed the theory of
discontinuous automatic control system which was further used to develop the automatic
flight control equipment for aircrafts. Several other applications include fire control
system, guidance system and electronics. [6]

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 A MECHATRONIC SYSTEM FOR INTELLIGENT ENERGY MANAGEMENT

Mainly two types of control systems are used in the modern day. One is the open loop
control system and the other one is the closed loop control system. For intelligent energy
management mostly closed loop control systems are used.

• Development of Machine Learning:

The objective of machine learning is to develop a mathematical model based on sample

data that will be able to predict the output for a given input.
This can be done without any premeditated programming. The model will be able to
predict the outcome of a certain event and can also make decisions in a specific situation
as well.

Synonymous with self-teaching computers, the term “Machine Learning” was coined by
Arthur Samuel in the year 1959. Raytheon Company developed a learning machine with
punch taped memory called “CyberTron” in 1960 to analyze SONAR signals,
electrocardium and speech patterns. In 1981, strategies were developed to train neural
networks to recognise 40 letters from the computer terminal. Due to the advent of
artificial intelligence (AI), the study of machine learning started to flourish in the 1990s.
The focus of the field shifted away from symbolic approach towards more statistical,
fuzzy and probabilistic approach. With the integration of knowledge from data science,
statistics, physics, neural science and medical diagnostics over the years, the field of
machine learning has advanced to a great extent. Some practical applications of it are
data mining, optimization, generalization using deep learning etc. [5]

• Signal processing:

Signal processing is the branch of electrical engineering which deals with analyzing,
synthesizing and modifying the signal obtained from an input device. It is mainly used to
correct a distorted signal, optimize storage efficiency and data transmission.

The principles of signal processing can be found way back in the classical Numerical
Analysis in the 17th century according to Alan V. Oppenheim and Ronal W. Schafer.
They have also stated that the digital refinement of these techniques can be found in the
digital control system of the 1940s and 1950s. In 1948 Claude Shannon published his
paper “A Mathematical Theory in Communication” in the “Bell System Technical
Journal” which laid the groundwork for later development of information communication

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systems and signal processing. The study of signal processing became popular in the
1960s and 1970s and with the invention of digital signal processor chips, it further
flourished in the 1980s [14]. Using many advanced power electronic devices, the storage
and transmission of electrical power has been made easier to a great extent. As a result
very complex systems can also be implemented using these principles of power
electronics and signal processing.

Key elements of the system:

In this section we will discuss the main components to develop an intelligent energy
management system.

• Sensor:

Sensor is the sensing element of the control system which takes input from the external
environment e.g. temperature, pressure, humidity etc and gives feedback to the control
system. Some of the notable sensors used in control systems are:

• Temperature sensor:

Temperature sensors are used to detect the temperature of the control system. It is
also used to maintain a region at a constant temperature. Temperature sensors take
the temperature of the room or the region as input and send this data to the
comparison unit [13]. The comparison unit then compares the current temperature
with the desired one and commands the controller unit to take necessary measures
accordingly. Some common temperature sensors are thermocouple, RTD,
thermistor, bimetallic strip thermometer.

• Humidity sensor:

Humidity sensors are used to measure the relative humidity of a system. There are
many systems in which the components are sensitive to the presence of moist air
or water vapor and can be damaged by its presence. Such systems require
humidity sensors to detect the presence of vapor and trigger the vapor filtering
mechanism eventually. Capacitive and resistive humidity sensors are used to

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measure relative humidity while thermal conductivity humidity sensors are used to
measure absolute humidity. [4]

• Light sensor:

Light sensors can detect the amount of light and also the presence of a
person in a room. In a light control system, the light sensors can detect the amount
of light from the external environment and adjust the light intensity of the artificial
light sources [3]. Similarly in occupancy sensing systems, it can detect the
presence of a person in a room and adjust the lighting accordingly. Few common
light sensors are LDR (Light Detecting Resistor), photodiodes and
phototransistors.

• Motion sensor:

Motion sensor detects the movement or motion of a person or an object in a light

controlling system and occupancy sensing systems. Then it adjusts the intensity of
the light source according to the requirements. It provides feedback to the control
system and thus optimizes the energy consumption improving the efficiency. Most
popularly used motion sensors in intelligent energy management are ultrasonic
sensors, microwave sensors and passive infrared sensors etc.

• Pressure sensor:

Pressure sensors are used in an energy management system to measure and control
the pressure of fluids in that system. Commonly used pressure sensors are linear
variable differential transformer (LVDT), capacitive sensor, inductive sensor,
piezoelectric, strain gauge etc. In heating, ventilation and air conditioning systems
such sensors are used to maintain an optimum pressure level for the refrigerants.
Even in the fluid power systems, pressure sensors are used to maintain the
pressure of the pneumatic and hydraulic fluids and optimize energy consumption.
It helps to reduce the inefficiency and energy loss of the system due to friction.

• Flow sensor:

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A flow sensor is normally used to measure the flow rate of gas or liquid in a
system. In the intelligent energy management system, flow sensors are used to
monitor and control the flow rate of the fluid in order to optimize the energy
consumption and increase the efficiency of the system. Some examples of flow
sensors are paddle wheel flowmeter technology, coriolis mass flow technology,
magnetic flowmeter technology etc.

• Current and voltage sensor:

Current sensors are used to measure the current flowing through a circuit. They
typically use a magnetic field to detect the change of current and convert the signal
and give feedback to the system. Meanwhile the voltage sensors are used to
measure the voltage level of the circuit of the devices. Both of these can be used to
monitor the electrical load and voltage level at a proper safety level. Also these
sensors provide the feedback on the basis of which the power consumption of the
system is optimized. These are mostly used in houses, buildings, motor control
systems, power distribution systems etc.

• Smoke and gas sensor:

Smoke sensors are used to detect the presence of smoke or any other unwanted
gaseous substances in the system. For example, if fire breaks out in a house, the
smoke sensors can immediately detect the smoke and eventually the controller unit
will command the water valve to blow and extinguish the fire. It can further be
used to measure sudden changes in the temperature or humidity in the atmosphere
of a system.

Figure-II: A smoke sensor implemented with an arduino.

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• Actuator:

Actuators are devices used to create motion by taking electrical energy as input. It is the
mechanism by which a control system acts on the environment. Its output is usually
mechanical e.g linear displacement or velocity [1]. Some common types of actuators that
can be used in an intelligent energy management system are:

• Linear actuator:

Linear actuator gives motion in a straight line. Mainly used for linear positioning
of objects. In smart houses, they can be used for the movement of doors and
windows. In heating, ventilation and cooling systems, the position of dampers can
be adjusted for controlling the flow rate of gas. It also helps to adjust the position
of the vents [9]. In a solar tracking system the position of the solar panels can be
monitored using it. They can provide a precise controlled movement which can be
repeated and are also adaptable.

• Rotatory actuator:

Rotatory actuators provide rotational motion e.g torque. Electric motors such as
DC motor or stepper motors with a motor driver are used for this purpose. The
shafts of the motors are connected to the fan or turbine blades that are to be
rotated, using a power supply from a voltage source, the motor can be turned on
and the rotation can be achieved.

In a temperature control system, if the temperature increases beyond the expected

value, then the temperature sensors take the input and send the data to the
comparator, the comparator then transmits it to the control unit which commands
the correction unit which is the fan here to rotate by turning on the motor. And the
fan rotates until the temperature comes down to the expected level.

• Mechanical actuator:

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Mechanical actuators are used to give motion by converting one type of motion to
another type of motion e.g rotational to linear. It can provide a very complex form
of motion. It is normally used in valve control, boiler control, damper control and
generator control.

• Pneumatic actuator:

Pneumatic sensors give motion by converting the energy of compressed air into
mechanical energy. These are considered as highly reliable and safe.
They are useful in controlling the flow rate and speed of the fluid in a system.
Accordingly adjustments are done to optimize the energy consumption and
increase efficiency.

• Hydraulic actuator:

Uses signals from the fluid for example: fluid pressure and converts it into
mechanical form of motion. They are mainly used for valve mechanism i.e
controlled hydraulic pressure is used to force a piston to move against mechanical
spring which results in valve stroke.

Figure - III: Different types of actuators.

• Controller:

The controller or control unit is the element of the system that takes input from the
sensors of the system and makes decisions on that basis to adjust the output of that
system to achieve a certain goal [2]. Most commonly used controller is a PID
(Proportional Integral Derivative) controller.

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For example: If the temperature of a system goes below the desired level, then it will
command the bulb to glow in order to increase the temperature. Similarly if the
temperature increases more than the desired one, the fan will be rotated in order to
decrease the temperature. Such decisions are taken by the PID controller.

• Energy storage:

An intelligent energy management system may sometimes supply more energy than is
required, resulting in wastage due to the absence of energy storage. To prevent such
waste and store energy for later use, various energy storage systems can be employed.
Two common options are pumped storage and battery storage.

Pumped Storage:
Pumped storage involves pumping water from a lower reservoir to an upper reservoir
from which it can be released on demand to generate hydroelectricity. By pumping water
to the upper reservoir during periods of low demand and releasing it during periods of
high demand, pumped storage can help to balance the electricity grid and ensure a
reliable supply of energy. Pumped storage comprised 95% of the world’s large-scale
electricity storage in mid-2016, and 72% of the storage capacity added in 2014. [18]

Battery Storage:
Electrochemical storage is also a viable energy storage option commonly known as
Battery Energy Storage System (BESS). Charging and discharging cycle of BESS is
controlled by IEMS. [17]

The 3 main types of batteries are:

i.Lead-acid batteries - Traditionally used for off-grid power systems but are not widely
used today. Traditional battery systems were made up of deep-cycle lead-acid batteries.

ii.Lithium-ion batteries - Over recent years different variations of lithium-ion batteries

have dominated due to the many benefits over lead-acid batteries including;
• Lightweight
• Scalable
• High efficiency
• Long life
Large companies such as LG and Samsung began releasing lithium battery systems back
in 2015, but interest rapidly increased with the announcement of the Tesla Powerwall;
this was when home storage batteries really hit the mainstream.

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iii.Flow batteries - Generally used for larger energy storage applications and gradually
evolving. [16]

Advantages:
Advantages of using HESS(Home Energy Storage System) include:
• Overcoming grid losses: Transmission of electrical power from power stations to
population centers is inherently inefficient, due to transmission losses in electrical
grids, particularly within power-hungry dense conurbations where power stations
are harder to site.
• Energy grid support: Home energy storage devices, when connected to a server
via the internet, can theoretically be ordered to provide very short-term services to
the energy grid
• Reduced reliance on fossil fuels: Due to the above efficiencies, and their ability to
boost the amount of solar energy consumed on-site, the devices reduce the amount
of power generated using fossil fuels, namely natural gas, coal, oil and diesel. [17]

• Power Electronics:

Power electronics refers to the use of electronic devices to condition and convert the
electric signals from the input for processing [11]. Such devices include analog to digital
converter, digital to analog converters, rectifier circuits, amplifiers, transmitters etc.
The converters help in converting the digital signals to analog or vice versa. The rectifier
circuits are used to correct the distorted signals. The amplifiers are used to amplify the
converted signal for example millivolt to volt conversion. Transmitters transmit the
obtained signal from input converting it into an electrical signal.

• Software:

Software is the core element for performing all of the above functions and also
implementing the other elements according to the situation. The following functions can
be executed using the software:

• Control software e.g PID controller implements the closed loop control
algorithms.
• Data analysis software is used to compare and analyze various data that are
received in the form of signals from various sensors.
• Optimization is done by the help of machine learning algorithms.

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• Communication between various elements for example sensors, actuators and

controllers can be established by using softwares such as Modbus, Profibus, CAN.
• Monitoring of the elements can also be done using the software.

• Communication Protocol:

Communication protocols determine how actuators and sensors communicate and

connect with each other and also provides information to user via apps in their phone or
PC.
These communication protocols can be:
1. Wired : a tree or star bus topology is preferred since it provides higher flexibility in-
home wiring.
2. Wireless : the mesh topology is preferable as it can bypass obstacles inside a home.

In choosing the right protocol the following must be considered:

• High frequency equals —
o Faster data transfer rates (Larger Bandwidth)
o High Attenuation(hard time traveling across walls)(Low range)
• Fault Tolerant Protocol: Transmitter sends a message and receiver confirms the
message by repeating it. This works when both devices speak same language. [15]

Commonly used protocols include:

ZigWave ZigBee
Frequency 0.9GHz 2.45GHz
Licensing Strict rules licensed by a single Open wireless
company(Sigma Waves). standard(Companies have more
freedom to design).
Compatibility Maximum compatibility between Devices from different
devices. Device from any manufacturer manufacturers can’t inter-
can be connected to the hub. communicate.
Cost High chip and license cost Low cost
Hop limit Limited to 4 hops. No hop limit

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Zigbee/Zwave Wifi
Protocol Lightweight protocols(less There is no direct intercommunication
strict). between devices. Devices only
communicate through “Access Point”
Battery life More battery life due to less Drains the battery fast. Since strict rules
information exchange require more communication of data
Communication Device>Nearby Device>Hub>Cloud>Phone
model device>...Hub>Cloud>Phone
Privacy Can use cloudless hub to Can’t use cloudless hub to increase
increase privacy/security privacy/security

Implementation:

• Home Appliances:

HEMS turns on more devices during less demand, thus balancing the grid pressure to
increase efficiency and reduce outage. So, Home Appliances are divided in two
categories as far as HEMS is concerned:

i.Non-schedulable loads: Loads whose time of use cannot be easily switched are called
non-schedulable loads. Ex: TVs, Microwaves, Computers, Printers, Refrigerators and so
on.
ii.Schedulable loads: Those that can be switched on/off at any time. These include lights,
air-conditioners, heaters, iron, EV chargers, etc.
Schedulable loads can be further divided into
a. Interruptible or
b.Non-interruptible loads.
Non-interruptible loads are constrained by a ‘hold-time’, i.e. a fixed period of operation
before they can be turned off. [15]

• Electric Vehicles:

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The world is gradually clinging towards EVs as fossil fuel prices are becoming less and
less reliable. A future where every smart home owns an EV is not far-fetched. Integrating
EV into the HEMS can help tackle numerous problems at once.
An HEMS may employ two method of EV charging:

i.Unidirectional Charging:This model is called G2V(grid to vehicle) where the EV

getting charged may act as any other load in the grid. Charging time is scheduled in
balance with other loads to minimize load peaks.

ii.Bidirectional Charging:This model includes both G2V and V2G(Vehicle to grid) or

V2H(Vehicle to home). In this model the EV receives charge in scheduled time. In
addition, in high demand time it may act as power source to the grid during high demand
time.(V2G)
EV may also provide power to the house directly, for a while after an outage or during
high demand. (V2H). [15]

• Integrating Renewable Energy With HEMS:

Technological advancement has now enabled the use of Renewable Energy

Sources(RES) in HEMS. There sources may include:
PhotoVoltaic Cells, Wind Power, Biomass and Geothermal energy.
• A Storage System is required to stabilize the supply of electricity generated by
RES.
[HESS has been discussed in the Energy Storage section of this article]
• Renewable Energy in combination with HESS can provide emergency power in
the event of an outage. [15]

Limitations and Inconsistencies:

In general, there may be some limitations or inconsistencies in studies related to mechatronic

systems for intelligent energy management. Some of the limitations and inconsistencies are:

• Lack of comparative studies:

While there are many theoretical studies on mechatronic systems for intelligent energy
management, there may be a lack of comparative studies that test the effectiveness of

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these systems in real world applications. This can limit our understanding of how these
systems perform in practice.

• Varied system components:

Mechatronic systems for intelligent energy management can include a wide range of
system components, such as sensors, actuators, controllers, and energy storage devices.
However, different studies may use different components or configurations, making it
difficult to compare results across studies.

• Insufficient focus on specific applications

Some studies may focus on specific applications of mechatronic systems for intelligent
energy management, such as HVAC systems or renewable energy systems, while others
may have a broader focus. This can hinder the generalizability of results across different
applications.

• Limited consideration of external factors:

Such systems can be affected by external factors such as weather conditions, building
occupancy, and energy prices. However, some studies may not consider these factors,
which can limit the accuracy of their findings.

• Installation issue:

The wide installation of such a system is very difficult to contain and sustain in a
commercial building, college or any research facilities.

• Security:

It refers to the lack of privacy. Since all the systems are to be remotely controlled in an
Intelligent energy management system, remote systems are easily hackable and may be
prone to attack. Such attacks can damage the power system or delivery system and make

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the system ineffective eventually. Besides, much information might also be exposed due
to such attacks. [10]

• Data sparsity:

This refers to the lack of initial data recommended for starting the system.
In case of collaborative and interactive systems, content based and knowledge based
information is a necessity. This sparsity is seen when there is insufficient knowledge of
the users who are new to the system. Lack of continuous evaluation of the system is also
another thing responsible. As a result, sometimes the system does not meet the demands
of the customers. [10]

Future Research:

On the basis of the survey conducted, the following aspects should be considered for the future
development of Mechatronic system Intelligent Energy Management.

Security is the most important factor to be considered here. It is important to protect the privacy
of the users and their sensitive information which can be often prone to cyberattacks [10].
Frameworks which are less vulnerable to cyberattacks should be developed in order to avoid
system failure, system hacking, data corruption and unauthorized access. Further research needs
to be conducted on implementing the system’s scalability. For example from implementing the
mechatronic system to a smart house to a smart city [10]. User friendly interfaces and
frameworks have to be developed to cope with such scalability. Vocational skills in each and
every department of mechatronics and artificial intelligent systems should be introduced to
gather more workforce in the field of IEMS. In order to meet the demands of massive
production, a huge manpower will be needed and this starts from skill development alongside
traditional engineering education. In order to increase the efficiency of the system, advanced
instruments which are a bit costly but provide better accuracy and precision will be needed.

Development of artificial intelligence, deep learning and machine learning and their constant
improvement is needed to bring about new and advanced features in the system to keep the
customers and the users well interacted with the IEMS technology.

These are some of the key future research aspects that should be considered for the development
of IEMS.

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Conclusion:

Intelligent energy management systems are a great innovation in the field of energy
management. In the current situation of conserving and storing as much energy as possible and
also to reduce wastage of energy, there is no alternative to such a system. Mechatronic system is
a way to implement such a system which requires the integration of knowledge from all
branches of engineering. Despite some limitations currently, rigorous research and development
work is ongoing along with technological advancements to eradicate all the inconsistencies.
With the natural energy resources diminishing alarmingly, it is hoped that the intelligent energy
management systems could prove useful in increasing system efficiency and optimizing
consumption.

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Appendix:

Survey Results

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May 2022,

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17. “Home Energy Storage” Wikipedia,

https://en.wikipedia.org/wiki/Home_energy_storage

18. “Pumped Storage” World Nuclear Association

https://world-nuclear.org/information-library/current-and-future-

generation/electricity-and-energy-

storage.aspx#:~:text=Electricity%20cannot%20itself%20be%20stored,reconverted

%20to%20electricity%20on%20demand

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