7th International Workshop

on Microsystems
Alexander Campus, International Hellenic University, 14 December 2022

Workshop Proceedings
 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Introduction

This workshop brings together research and development from a large spectrum of science and
engineering fields related to the implementation of microsystems in the new era of distributed
information technologies. As cloud computing services and smart portable systems are becoming
ubiquitous and more advanced, new possibilities for interdisciplinary research emerge. The
microsystems that comprise the so-called internet of things will encompass a wide range of
technologies including new energy sources, energy and information electronics, sensor systems,
smart and energy efficient control and computing, telecommunications and networking, and also
nanotechnology and micro-electro-mechanical systems. Continuing six successful workshops
between 2016 and 2021, the 7th International Workshop on Microsystems aims at bringing together
related research and development advancements from the academic community and the industry.
Scientific topics include but are not limited to::

Energy microsystems Industrial automation and control

Sensors and sensor electronics Microelectronics and nanoelectronics
Embedded systems Micro-electro-mechanical systems
Integrated Circuits and Systems Computing for microsystems

Michail E. Kiziroglou
[email protected]

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Venue
Lecture Theater, Automation and Informatics Building
Sindos Campus, ATEI Thessaloniki, Greece

Date
Wednesday, 14th of December, 2022

Organizer
Michail E. Kiziroglou

Session Chairs
Dr. Dimitrios Bechtsis, Industrial Eng. & Management, IHU, Greece
Dr. Fotis Stergiopoulos, Industrial Eng. & Management, IHU, Greece
Dr. Theodoros Kosmanis, Industrial Eng. & Management, IHU, Greece
Dr. Dimitrios Tziourtzioumis, Industrial Eng. & Management, IHU, Greece

Technical Programme Committee

Alexandros Astaras
Dimitrios Bechtsis
Michail E. Kiziroglou
Simira Papadopoulou
Fotis Stergiopoulos
Dimitris Triantafyllidis
Kostas Siozios
Apostolos Tsagaris
Christos Yfoulis
A. Hatzopoulos

Organization and Technical Support

Dimitrios Achparidis, Eleftherios Kenanidis, Thanos Kimpriktsis, Charalampos Kiokpasoglou

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

List of Authors
No Last Name First Name / Initials Affiliation
1 Adamidis P. IEM, International Hellenic University, Greece
2 Bădică Costin University of Craiova, Romania
3 Barcikowski M. University of Technology and Humanities in Radom, Poland
4 Bechtsis Dimitrios IEM, International Hellenic University, Greece
5 Cîrciumariu D.-A. University of Craiova, Romania
6 Ciudin M. University of Craiova, Romania
7 Colpacci C.-I. University of Craiova, Romania
8 Diamantis G. IEM, International Hellenic University, Greece
9 Draghici C. F. University of Craiova, Romania
10 Emmanouil G. IEM, International Hellenic University, Greece
11 Enache E. V. University of Craiova, Romania
12 Fejzo X. University of Craiova, Romania
13 Gasteratos Antonios Democritus University of Thrace, Greece
14 Georgiadou A.-E. IEM, International Hellenic University, Greece
15 Gkakidis K. IEM, International Hellenic University, Greece
16 Gkoudinakis A. IEM, International Hellenic University, Greece
17 Hatzopoulos Argyrios T. IEE, International Hellenic University, Greece
18 Karafyllidis Ioannis G. Democritus University of Thrace, NCSR Demokritos, Greece
19 Karamitsos George IEM, International Hellenic University, Greece
20 Karasakalidou S. IEM, International Hellenic University, Greece
21 Karaziotis Nikolaos IEM, International Hellenic University, Greece
22 Kosmanis Theodoros I. IEM, International Hellenic University, Greece
23 Kravari Kalliopi IEM, International Hellenic University, Greece
24 Lainas Dimitrios IEM, International Hellenic University, Greece
25 Liliopoulos Ioannis Democritus University of Thrace, Greece
26 Michailidou M. IEM, International Hellenic University, Greece
27 Murarețu Ionuț University of Craiova, Romania
28 Paleochorinos Dimitrios IEM, International Hellenic University, Greece
29 Papadopoulou Maria S. IEE, International Hellenic University, Greece
30 Pavel A. University of Craiova, Romania
31 Radu S. University of Craiova, Romania
32 Rosu S. University of Craiova, Romania
33 Samaras A. IEM, International Hellenic University, Greece
34 Sianti Eleni Democritus University of Thrace, Greece
35 Sidiropoulos Vasileios IEM, International Hellenic University, Greece
36 Soare A. -M. University of Craiova, Romania
37 Stergiopoulos Fotis IEM, International Hellenic University, Greece
38 Stoupas F. T. IEE, International Hellenic University, Greece
39 Syrmos Evangelos IEM, International Hellenic University, Greece
40 Triantafyllidis Dimitris IEM, International Hellenic University, Greece
41 Tzanetou A. IEM, International Hellenic University, Greece
42 Tziourtzioumis Dimitrios Ν. IEM, International Hellenic University, Greece
43 Vaduvescu I.-C. University of Craiova, Romania
44 Varsamis Georgios D. Democritus University of Thrace, Greece
45 Vassios V. D. IEE, International Hellenic University, Greece
46 Vlachos A. IEM, International Hellenic University, Greece
47 Zomek M. University of Technology and Humanities in Radom, Poland

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Programme
08:45-09:00: Registration
Please check-in or register at the front desk.

09:00-09:05: Welcome and introduction

09:05-10:45: First Oral Session (Session Chair: Dimitrios Bechtsis, IHU)

09:05-10:00: Unmanned Aerial Vehicles: applications with embedded vision systems, Antonios
Gasteratos, Head of Department, Production and Management Engineering, Democritus University
of Thrace, 22WOM-01 (Invited)
10:00 Optimization of Electric Vehicle Routing Problem with Time Windows using Gurobi Solver.
I. Muraretu and C. Badica, 22WOM-02
10:15: Autonomous Robotic Vehicle for Disinfecting Workplaces: Integration of the disinfection
subsystem, V. Sidiropoulos, E. Syrmos, G. Karamitsos and D. Bechtsis, 22WOM-03
10:30: Artificial Intelligence in Automotive Industry – A Lightweight Perspective, C. Badica,
K. Kravari, Th. Kosmanis and I. D. Muraret, 22WOM-04
10:45-11:15: Coffee Break and Poster Session
Nanotechnology 2022: A student perspective, D. Lainas, N. Karaziotis, D. Paleochorinos et al,
22WOM-05.
11:15-12:15: Second Oral Session (Session Chair: Fotis Stergiopoulos, IHU)
11:15: Utilizing potential operators on quantum walk evolution, G. D. Varsamis and I. G.
Karafyllidis, 22WOM-06.
11:30: Hybrid Quantum Algorithms, I. Liliopoulos and I. G. Karafyllidis, 22WOM-07.
11:45: Conversion of a Climate Chamber to a Plant Growth Chamber, F. T. Stoupas, A. T.
Hatzopoulos, V. D. Vassios and M. S. Papadopoulou, 22WOM-08
12:00 Design, Simulation and Construction of a TIG Welding Apparatus, A. Vlachos, F.
Stergiopoulos and D. Triantafyllidis, 22WOM-09.
12:15-13:30: Third Oral Session: Vehicle Electrification
(Session Chair: Dr. Th. Kosmanis, IHU. Session Co-Chair: Dr. D. Tziourtzioumis, IHU)
12:15: E-DRIVETOUR: an interactive blended course on electric vehicle technology, Th. I.
Kosmanis and D. Ν. Tziourtzioumis, 22WOM-10.
12:30: E-DRIVETOUR mobility intermediate projects: An Overview, S. Karasakalidou, C. F.
Draghici, A. Gkoudinakis, S. Rosu, A.-M. Soare and A. Tzanetou, 22WOM-11.
12:45: Medium scale projects as a means for educating students on electric vehicle technology, M.
Michailidou, M. Ciudin, E. V. Enache, A. Samaras and X. Fejzo, 22WOM-12.
13:00 Training on electric vehicle technology in an Erasmus Plus project from student point of view,
D.-A. Circiumariu, P. Adamidis, G. Emmanouil, M. Zomek, C.-I. Colpacci and I.-C. Vaduvescu,
22WOM-13.
13:15: E-DRIVETOUR: A step towards the future of electric mobility, A. Pavel, M. Barcikowski, G.
Diamantis, A.-E. Georgiadou, K. Gkakidis, and S. Radu, 22WOM-14.
13:30-13:45: Best Paper Award by Ioannidis Electronics. Concluding remarks.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

WORKSHOP PAPERS

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Unmanned Aerial Vehicles:

applications with emmbeded vision systems
Antonios Gasteratos
Dept. of Production and Management Engineering, Democritus University of Thrace

The use of Unmanned Aerial Vehicles (UAV) has gained momentum in everyday applications,
including search and rescue, precision agriculture, surveillance, harsh environments
exploration applications etc. This is owed to the fact that they offer high-end solutions,
keeping the involved personnel safe at the same time. Over the last ten years, considerable
effort and investments has taken place worldwide to provide suitable and satisfactory solutions
to the scientific and technological problems involving UAV applications. At the same time,
owed to the increased availability of computational power, cameras became the primary sensor
unit for most of the robotic mechanisms. The main concern is the that until now, the enhanced
computing power demanded for computer vision tasks, was not consistent with the increased
mobility of targeted applications requirements. Yet, recent advancements in dedicated AI
hardware platforms provide powerful solutions and allow complicated vision algorithms and
networks to be fully deployed on a single board, suitable for embedded applications.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Optimization of Electric Vehicle Routing

Problem with Time Windows using Gurobi
Solver
Ionuț Murarețu, Costin Bădică

Department of Computers and Information Technology, University of Craiova

Abstract— The classic methods of delivering goods using The VRPTW problem is usually modeled as a complete
internal combustion engines in urban areas are one of the directed graph 𝐺 = (𝑁, 𝐴) where 𝐴 = {(𝑖, 𝑗) | 𝑖, 𝑗 ∈ 𝑁, 𝑖 ≠ 𝑗} is
important factors contributing to the pollution of these areas. the set of arcs and 𝑁 = 𝑅 ∪ 𝐶 ∪ {0} ∪ {𝑛 + 𝑚} set of nodes,
Hence, the usage of electric vehicles in such delivery workflows where 𝐶 = {1, … , 𝑛} is the set of customers, 𝑅 = {𝑛 +
could have a benefic impact on having greener cities.
1, … , 𝑛 + 𝑚} the set of recharging stations and {0} and {𝑛 + 1}
In this paper, we conducted some experiments on the Electric
Vehicle Routing Problem using the Gurobi solver and a MIP
are the depot departure and depot arrival representation. Each
model based on some classical VRP formulation on which we arc has a defined positive value 𝑐𝑖𝑗 that represents the travel cost
added some constraints related to the electric energy consumption between customer 𝑖 and customer 𝑗. For each customer 𝑖 ∈ 𝐶
of the vehicles. there is a demand 𝑞𝑖 . We assume that all the vehicles are
identical with the maximum battery capacity 𝐸 and maximum
Index Terms—electric vehicle, EVRP, MILP, Optimization, load capacity 𝑄.
vehicle routing As in the classical VRPTW variation, each customer must be
visited by only a vehicle.
At each recharging station a vehicle is recharging its battery
I. INTRODUCTION at a rate of 𝑟 and needs to wait until it is fully recharged.
In recent years, more and more logistic companies have There are three auxiliary decision variables defined in our
introduced electric vehicles into their workflow as an model: 𝑢𝑖𝑘 – the remaining capacity at location 𝑖 of the vehicle
alternative to internal combustion engines to combat carbon 𝑘; τik – time of arrival of vehicle 𝑘 at location 𝑖; 𝑦𝑖𝑘 – the
emissions. As a result, in the literature, more and more remaining battery on arrival at location 𝑖; 𝑖 ∈ 𝑁, 𝑘 ∈ 𝐾
alternatives to the classic Vehicle Routing Problem have Let 𝑥𝑖𝑗𝑘 be a binary decision variable that is 1 if the arc (𝑖, 𝑗)
appeared that take into account the constraints of the times is traveled by the vehicle 𝑘, 0 otherwise (𝑖 ∈ 𝑁\{𝑛 + 𝑚}, 𝑗 ∈
battery charging. 𝑁{0}, 𝑘 ∈ 𝐾).
In this paper, we analyze the usage of the Gurobi Solver for
the optimization of the MILP model for E-CVRP variation,
having as objective functions the reduction of emissions by 𝑚𝑖𝑛𝑖𝑚𝑖𝑧𝑒 ∑ ∑ 𝑐𝑖𝑗 𝑥𝑖𝑗𝑘 (1)
optimizing the number of vehicles used and the total distance (𝑖,𝑗)∈𝐴 𝑘∈𝐾
traveled. In the next section, we present the problem
formulation. The third section shows the experimental setup ∑ ∑ 𝑥𝑖𝑗𝑘 = 1, ∀𝑖 ∈ 𝐶
and some results of our experiments, and we conclude in section s.t. (2)
𝑗∈𝑁\{0} 𝑘∈𝐾
four with some discussion and future work objectives.

II. PROBLEM FORMULATION ∑ 𝑥𝑖𝑗𝑘 = 1, ∀𝑖 ∈ 𝑉, 𝑘 ∈ 𝐾, 𝑖 ≠ 𝑗 (3)

𝑗∈𝑁\{0}
We formulate the Electrical Vehicle Routing Problem as an
extension of the classical MIP formulation of the Vehicle
Routing Problem with Time Windows, on which we added ∑ 𝑥𝑖𝑗𝑘 − ∑ 𝑥𝑗𝑖𝑘 = 0, ∀𝑘 ∈ 𝐾, 𝑖 ≠ 𝑗
𝑗∈𝑁\{0} 𝑖∈𝑁\{𝑛+𝑚} (4)
some constraints for the limitation of the driving range and
electric power consumption. Our model is based on the one
proposed in [3].

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Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

τik + (𝑡𝑖𝑗 + 𝑠𝑖 ) ∗ 𝑥𝑖𝑗𝑘 − 𝑀 ∗ (1 − 𝑥𝑖𝑗 ) ≤ τj , ∀𝑖

∈ 𝐶 ∪ {0}, 𝑗 ∈ 𝑁\{0}, 𝑘 (5)
∈ 𝐾, 𝑖 ≠ 𝑗

τi + 𝑡𝑖𝑗 + 𝑟 ∗ (𝐸 − 𝑦𝑖𝑘 ) − (𝑀 + 𝑟 ∗ 𝐵)
∗ (1 − 𝑥𝑖𝑗𝑘 ) ≤ τj , ∀𝑖 ∈ 𝑅, 𝑗 (6)
∈ 𝑁\{0}, 𝑘 ∈ 𝐾 𝑖 ≠ 𝑗

0 ≤ 𝑢𝑗𝑘 ≤ 𝑢𝑖𝑘 − 𝑞𝑖 𝑥𝑖𝑗𝑘 + 𝑄(1 − 𝑥𝑖𝑗𝑘 ), ∀𝑖

∈ 𝑁\{𝑛 + 𝑚}, 𝑗 ∈ 𝑁\{0}, 𝑘 (7)
∈ 𝐾, 𝑖 ≠ 𝑗

0 ≤ 𝑢0𝑘 ≤ 𝑄, ∀𝑘 ∈ 𝐾 (8)

0 ≤ 𝑦𝑗𝑘 ≤ 𝑦𝑖𝑘 − 𝑏𝑐𝑖𝑗 𝑥𝑖𝑗𝑘 + 𝐸(1 − 𝑥𝑖𝑗𝑘 ), ∀𝑗

(9)
∈ 𝑁\{0}, 𝑖 ∈ 𝐶, 𝑖 ≠ 𝑗

0 ≤ 𝑦𝑖𝑘 ≤ 𝐸 − 𝑟𝑐𝑖𝑗 𝑥𝑖𝑗𝑘 , ∀𝑖 ∈ 𝑅\{0}, 𝑗

∈ 𝑁{0}, 𝑘 ∈ 𝐾, 𝑖 ≠ 𝑗 (10)

𝑥𝑖𝑗𝑘 ∈ {0, 1}, ∀𝑖 ∈ 𝑁\{𝑛 + 𝑚}, 𝑗 ∈ 𝑁\{0}, 𝑘 ∈ Fig. 1. C101 Solomon benchmark customers distribution.
(11)
K ,𝑖 ≠ 𝑗
IV. DISCUSSIONS
In this paper, we solved the EVRP problem using the
III. EXPERIMENTS & RESULTS Gurobi solver and a MILP variation of the VRPTW
The experiments were conducted on Ubuntu 22.04 machine formulation, on which we introduced some constraints
with an AMD Ryzen 7 1700X CPU with eight cores clocked related to the limited range and electric power consumption
at 3GHz with 24GB of RAM and 512GB SSD, with Gurobi of the electric vehicles to optimize the distance traveled.
ver. 9.
We conducted our experiments using the Solomon
benchmark datasets. We present a snapshot of the data that we REFERENCES
used in Table I. [1] IEA (2022), Global EV Outlook 2022, IEA, Paris
TABLE I https://www.iea.org/reports/global-ev-outlook-2022, License: CC BY 4.0
SNAPSHOT ON TESTING INSTANCES [2] Kucukoglu, Ilker, Reginald Dewil, and Dirk Cattrysse. "The electric
vehicle routing problem and its variations: A literature review."
Customer X Y Computers & Industrial Engineering 161 (2021): 107650.
[3] Qin, Hu, et al. "A review on the electric vehicle routing problems:
1 20 30 Variants and algorithms." Frontiers of Engineering Management 8.3
2 50 40 (2021): 370-389.
… [4] M. Mavrovouniotis, C. Menelaou, S. Timotheou, G. Ellinas, C.
Panayiotou and M. Polycarpou, "A Benchmark Test Suite for the Electric
Capacitated Vehicle Routing Problem," 2020 IEEE Congress on
Evolutionary Computation (CEC), 2020, pp. 1-8, doi:
10.1109/CEC48606.2020.9185753.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Autonomous Robotic Vehicle for Disinfecting Workplaces: Integrating

the disinfection module
Sidiropoulos Vasileios, Syrmos Evangelos, George Karamitsos, Dimitrios Bechtsis
1
Department of Industrial Engineering and Management, International Hellenic University, Sindos,
57400, Greece

Health in workplaces is a major concern, especially after the spread of the covid-19. The pandemic paved
the way for a holistic change in workplace disinfection operations [1]. After the spread of the covid-19,
humans are trying to get protection from contagious diseases in workplaces as they understand that they
can contaminate by breathing particles and droplets of respiratory fluids. Thus, workplaces should identify
new ways to reduce the spread of viruses. Currently, commercial robots are available but mainly rely on
ultraviolet radiation [2], [3], which is inefficient in large areas such as industrial ones as it takes several
minutes of exposure to destroy a virus [4]. On the other hand, disinfection with liquids is not sustainable in
large workplaces due to the high amount of liquid needed for the operation. To this end, a more time and
cost efficient way to disinfect workplaces is necessary. The proposed system tackles the aforementioned
problems by integrating an autonomous robot with machine vision and data analysis to optimize the
disinfection operation. The system consists of five (5) subsystems, namely the machine vision, the decision
support system, the autonomous robot, the disinfection and the mobile application subsystem. For the
machine vision subsystem, a depth camera is used, alongside machine learning algorithms and neural
networks. The machine vision subsystem recognizes humans and saves their location. This information is
then passed to the decision support system. The decision support system uses data analysis to determine the
high-risk areas in the workplace, that need to be disinfected. Thus, the disinfection operation lasts less time,
and the liquid used is minimized while the workplace is properly disinfected. To execute the disinfection
procedure, the autonomous robot navigates itself to the location provided by the DSS. The robot utilizes
navigation and obstacle avoidance algorithms to prevent accidents and equipment damage. Furthermore,
the disinfection subsystem includes an electrostatic sprayer, a tablet apparatus and an auxiliary computing
unit. Lastly, the mobile application provides an interface to control the autonomous robot. Through the
application, users can configure multiple parameters and receive information about the system’s operations.
For the system integration the Robotic Operation System (ROS) was used. ROS provided a stable
communication mean to exchange information between the subsystems. The DSS and the autonomous robot
can trigger the disinfection mechanism. The trigger enables the electromagnetic sprayer and the tablet
apparatus. The number of tablets used are also controlled via the trigger, based on the risk level. The
proposed solution can be used in workplaces and public facilities which require disinfection operations.
The novel architecture integrates state-of-the-art technologies and algorithms such as machine vision, data
analysis and autonomous navigation in order to optimize the efficiency and cost-effectiveness of the process
while ensuring the effectiveness of the disinfection.

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Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Fig 1. High level architecture

References

[1] Centers for Disease Control and Prevention, Nov. 2021, “Cleaning Your Facility”,
https://www.cdc.gov/coronavirus/2019-ncov/community/disinfecting-building-facility.html

[2] F. Astrid, Z. Beata, van den Nest Miriam, E. Julia, P. Elisabeth, and D. E. Magda, “The use of a UV-C
disinfection robot in the routine cleaning process: a field study in an Academic hospital,” Antimicrob
Resist Infect Control, vol. 10, no. 1, Dec. 2021, doi: 10.1186/s13756-021-00945-4.

[3] F. M. Fuchs et al., “Characterization of a robot-assisted UV-C disinfection for the inactivation of
surface-associated microorganisms and viruses,” J Photochem Photobiol, vol. 11, Sep. 2022, doi:
10.1016/j.jpap.2022.100123.

[4] C. Olagüe et al., “Rapid SARS-CoV-2 disinfection on distant surfaces with UV-C: The inactivation is
affected by the type of material,” J Photochem Photobiol, vol. 11, Sep. 2022, doi:
10.1016/j.jpap.2022.100138.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Artificial Intelligence in Automotive Industry – A

Lightweight Perspective
Costin Bădică Theodoros Kosmanis
Computer and Information Technology Department Dept. of Industrial Engineering and Management
University of Craiova International Hellenic University
Craiova, Romania Thessaloniki, Greece
[email protected] [email protected]
Ionuţ Dorinel Murareţu
Kalliopi Kravari Computer and Information Technology Department
Dept. of Industrial Engineering and Management University of Craiova
International Hellenic University Craiova, Romania
Thessaloniki, Greece [email protected]
[email protected]

Abstract—The aim of this paper is to briefly overview the sector spending on research per firm. It comprises a diversity of com-
of Automotive Industry (AY) with a focus on Artificial Intelligence panies and organizations engaged in the design, development,
(AI) technologies – Artificial Intelligence for Automotive Industry manufacturing, marketing, and selling of motor vehicles.
(AI4AY). We consider the business ecosystem and market of
AI4AY as well as the most relevant AI methods for innovative The AY ecosystem is very complex and dynamic, spanning
applications in AY. many types of processes, organizations and services. At a very
Index Terms—artificial intelligence, machine learning, smart high level the AY ecosystem can be seen as comprising the
systems, automotive industry following perspectives:
• User & driving perspective refers to the functions and
I. I NTRODUCTION services provided by the car together with the road
Artificial intelligence (AI) is currently seen as one of the infrastructure to the human driver. They include the
most disruptive factors of industry and society. AI has evolved following aspects: advanced driver-assistance systems
from an exotic research trend to a key ingredient virtually (ADAS), provision of autonomic features for the safety
spanning every aspect of computing. The synergy between new and convenience of the driver, features for connected
AI technologies with recent computing trends is a key enabler vehicles, as well as smart road and city infrastructure
of innovation in business and industry. In the modern world, (from the driver perspective).
all industry sectors employ AI and advanced computing as • Manufacturing and Supply Chain perspective contains

tools to better meet their goals. AI itself is comprising a set of customers, dealerships, original equipment manufacturers
enabling technologies including AI agents, intelligent problem (OEM), as well as tier 1, 2, and 3 suppliers [16] and their
solving, machine learning (ML), knowledge representation smooth interactions.
and reasoning (KRR), natural language processing (NLP), • Environment and Society perspective addresses the

and intelligent user interfaces, that can be used effectively to smooth integration of automotive services into the sur-
achieve business objectives. rounding world by focusing on the following issues: sus-
In this paper we address the recent requirements, devel- tainability, pollution and waste management, infrastruc-
opments and challenges in the AY sector with a focus on ture (from the environment sustainability perspective),
the opportunities raised by the application of various AI smart services (e.g. ride sharing) and ethics.
technologies. We start with a brief overview of AI & AY • Business perspective addresses the business and economic

ecosystems and markets, and then we concentrate on the most aspects of the AY ecosystem by focusing on the following
relevant AI methods and technologies that we consider relevant issues: customer relations management, customer prefer-
for the present and future of AY. ences and customization, marketing and advertising.
B. Artificial Intelligence Ecosystem
II. BACKGROUND
During the last decade, AI reached a high level of maturity
A. Automotive Industry Ecosystem from scientific experimentation in research laboratories to
The Automotive Industry (AY) is one of the world’s largest powerful applications in business and industry. AI comprises
industries by revenue, as well as the industry with the highest a rather wide range of methods and techniques spanning

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

various approaches in symbolic and sub-symbolic information soning can be based on symbolic processing, usually involving
processing that evolved and matured during a short history of some form of logical inference or numeric processing (for
more than 50 years. They can be succinctly grouped into three example prediction or classification using neural networks).
intertwined classes of approaches comprising representation, Machine learning is the ability of an AI system to improve
reasoning and learning methods. its competence and performance over time based on past prob-
Currently, AI technologies have penetrated virtually all areas lem solving experiences. It refers to expanding the system’s
of life and society. The recent technical performance of AI range of behaviors by gaining new abilities to solve more
methods and technologies, as well as their impact in business problems, as well as to increasing the accuracy of solving
and economy, present new and amazing achievements while old problems better and faster. Progress in machine learning
also raising new scientific and practical challenges that require exploited the tremendous achievements in hardware that en-
a careful investigation by the research community. abled fast digesting of huge amounts of data for synthesizing
AI methods and technologies go hand-in-hand with compu- deep neural network models that are able to solve difficult
tational methods and architectures. The aim of AI to build prediction and discovery problems.
“intelligent computers” was set since the inception of AI
as a well defined field during the ’50s. So AI advances III. AI4AY M ARKET
are inconceivable without the progress of modern computing
systems including CPU, architectures, communications and The AI4AY market is expected to grow from about 1 billion
networking. Modern AI is applied in conjunction with recent USD in 2020 to more than 16 billions USD in 2026 at a
computing architectures: distributed, decentralized, secure, growth rate of almost 40% of compound annual growth rate
edge, fog, cloud computing leading to novel technologies like (CAGR). Following results of recent market research, AI4AY
frugal AI and federated machine learning. market segmentation is done according to components (hard-
AI consists of a complex ecosystem that is difficult to define ware, software, services), technologies (machine learning,
by a single all-encompassing definition. AI is very heteroge- computer vision, natural language processing, context-aware
neous as it incorporates many ideas and results from other computing), processes (signal / image / voice recognition, data
more established sciences including mathematics, statistics, mining), and applications (semi-autonomous driving, human-
logic, psychology, philosophy, biology, and economics. AI machine interface) [18].
research can be synthesized as addressing 4 major challenges According to the AI Index report that is updated yearly by
resulting from a two-axes classification of the AI target toward a group of researchers from the Human-Centered AI Institute
acting / thinking and respectively humanly / rationally, i.e.: of Stanford University in US [1], there is a significant rate of
acting humanly, thinking humanly, thinking rationally and adoption of AI in AY sector across all its envisioned func-
acting rationally [17]. tions: manufacturing, human resources, marketing & sales,
However, recent opinions driven by modern AI applications product and/or service development, risk management, service
including AY have opted for a more pragmatic definition of operations, strategy and corporate finance, and supply-chain
the goal of modern AI towards building beneficial machines. management. Moreover, as concerning the AI capabilities em-
According to this view, AI is concerned with not just under- bedded in standard business processes in AY, the following are
standing, but also with building intelligent entities that can mentioned: computer vision and facial recognition, knowledge
compute how to act effectively and safely in a wide variety graphs, natural language processing (synthesis, speech, text),
of novel situations. This aligns better with the recent AI machine learning (deep, reinforcement and transfer learning),
achievements in the areas of autonomous systems including virtual agents, robotics, recommender systems, robotic process
self-driving cars and social robots, and thus suits better our automation and simulations.
own purpose in AI4AY. According to [3], current popular applications of AI4AY
The core ingredients of an AI system are knowledge repre- address the following areas: autonomous vehicles (Motional,
sentation, reasoning and learning. Waymo, Zoox, AutoX), auto manufacturing (CCC Intelligent
It is widely accepted that AI systems are able to achieve Solutions, Rethink Robotics), driver assistance (SapientX,
their functions if and only if they incorporate substantial CarVi, Nauto, Tesla), and autonomous delivery (Refraction AI,
amounts of general and domain-specific knowledge. Such Starship Technologies, Kiwibot).
knowledge is captured using a knowledge representation lan- From the consumer point of view, the incorporation of
guage and it can take either symbolic or numeric forms. AI features into automotive products can be conceptualized
Symbolic knowledge includes rules, ontologies and knowledge using the customer-value hierarchy of a product in marketing
graphs, while numeric knowledge includes neural networks [20]: core, basic, expected, augmented and potential. Usually
and concept embeddings. AI systems can be endowed with AI is perceived by customers as adding a high-value to the
knowledge either by design or knowledge can be acquired products and so AI features are best located at the level of the
gradually by adaptive processes or special “training” sessions augmented product, with more advanced features included in
using machine learning. the potential product. However, the increasing popularity of
Reasoning encompasses AI processes involving the appli- AI in all sectors will eventually lower some of the AI features
cation of knowledge to solve specific problem instances. Rea- to the level of the expected product.

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Deployment of AI features utilizes information technology vehicle parameters, driver-less parking, smart sensors, intel-
infrastructure, components and software services adapted to ligent vision assistance, voice control, safety control, usage
the needs and requirements of AY. Examples of such elements feedback to company, and on-board diagnostics. They in-
are embedded systems, automotive networks, smart sensors volve the following AI techniques: fuzzy logic, ANN, smart
[21], specialized operating systems [2], computing architec- sensors, intelligent user interfaces, NLP, SVM. Intelligent
tures and platforms [22], as well as application software for design and manufacturing include intelligent assembly line,
requirements management, simulation and image processing. vehicle production sequencing, intelligent production control,
supply chain and inventory management and utilize KRR,
IV. AI4AE M ETHODS constraint programming, genetic algorithms, fuzzy logic, and
data mining. Finally, after-sales and warranty management
We briefly overview some typical AI methods in support
services utilize KRR, Big Data analytics and data mining.
of AY. The landscape in rich and a full state-of-art review is
outside our aim, as well as impossible to do in such limited B. Knowledge Representation and Reasoning
space. Nevertheless, we strive to convey to the reader our
Automotive engineers can use KRR for capturing expert
message regarding the large diversity of available AI methods
knowledge useful for intelligent design, manufacturing plan-
that currently enable useful applications in the AY sector, by
ning and intelligent automated diagnosis in AY. In order to
going far beyond the most popular attraction of self-driving
face the knowledge acquisition bottleneck that refers to the
cars.
difficulty and ineffectiveness to manually extract non-trivial
amounts of knowledge from human experts, other automated
A. General State of the Art Surveys
approaches can be used, for example ontology learning. A
A survey of AI application to vehicles by focusing mainly framework for ontology learning from unstructured repair text
on the user & driving perspective is provided by [4]. The data for fault detection and isolation in automotive domain is
authors target the concept of “intelligent vehicle” seen as pro- presented in [11].
viding autonomy and connectivity functions. They highlight AY is considered one of the most complex manufactur-
various types of machine learning including support vector ing related industries in terms of product data management,
machines (SVM), neural networks (NN) and reinforcement involving extremely complex products comprising thousands
learning (RL). NN comprise basic artificial neural networks of components and a huge number of possible configura-
(ANN), as well as current deep NN architectures (recurrent NN tions. Moreover, it is appreciated that traditional relational
and convolutional NN). NN together with advanced perception approaches do not meet these tight requirements, as product
are seen as crucial for creating and understanding high- structures and configurations are dynamic and represented
precision world models, while RL principles are fundamental by dense directed acyclic graphs that are currently available
for developing high-performance path planning and decision in many formats and processed by many organisations from
making strategies. AY supply chain. One inevitable solution for the future data
A broader view of AI and Data Science application in the management in AY is the Automotive Knowledge Graph
AY sector is provided in [5]. The authors address the whole (AKG) [27]. A solution to extract an AKG from textual data
automotive value chain involving development, procurement, using NLP techniques for application in automatic test case
logistics, production, marketing, sales and after-sales, con- generation is presented in [25].
nected customer. The key observation is that devices, systems
and processes in AY are quickly generating large amounts of C. Intelligent Agents
heterogeneous data that require sophisticated processing for Agents are abstractions used by AI researchers and engi-
synthesizing knowledge and value via smart analytics func- neers to model entities that can perceive their environment
tions: discovery, prediction, diagnosis and optimization. The through sensors and can act upon their environment using ac-
following pillars of AI in AY are highlighted: machine learning tuators. Essential features of agents are autonomy, proactivity
(supervised and unsupervised), computer vision, inference and and sociability. Intelligent agents contain a “brain” able to
decision making, language and communication, agents and process perceptions, beliefs and knowledge using practical rea-
practical reasoning (directed toward action). Moreover, three soning directed toward synthesis of most appropriate actions
challenges are envisioned from the synergy of vehicle intel- for the benefit of the agent.
ligence and automotive Big Data: i) vehicles as autonomous, It worth noting that agents have many similarities with
adaptive and social agents “acting” in smart cities seen as control systems. Agent perceptions are similar with inputs of
super-agents, ii) integrated automotive factory optimization control systems, while agent actions are similar with control
and iii) transition from collective intelligence in companies system outputs. The agent - environment interaction loop
to emerging autonomous companies. consisting of sensing, processing and acting has similarities
A brief synthesis of AI applications in AY is presented to the feedback control loop involving the control system and
in [6] by focusing on three aspects: smart cars, intelligent the controlled plant.
design and manufacturing, as well as after-sales and warranty Smart cars can be modeled as autonomous intelligent
management services. Smart car functions include control of agents [26]. This approach can bring benefits to smart trans-

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Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

portation scenarios. For example, smart car agents can use A method based on data-driven ML approaches to assess
their communication capabilities and coordination algorithms change impacts in Engineering Change Management (ECM)
to form a platoon on a highway, thus improving traffic man- processes in AY was proposed in [9]. ECM is based on
agement and passengers safety, as well as reducing travel time, gathering and storing a massive amount of well-documented
fuel consumption and emissions [23]. data about Engineering Change Requests (ECR) expressed
in semi-structured natural language. The analysis tasks were
D. Machine Learning focused on two assessments: of change impact and of longer
ML is currently the most popular AI technology in all lead time. Change impact assessment was modeled as a multi-
application domains, including AY. According to the type of label classification problem, while longer lead time assessment
ML task, we can distinguish between: was modeled as a binary classification problem. Authors have
used NLP for data pre-processing, powerset labelling using
i) Supervised learning: given input features, target fea- a partitioned labelled space for multi-label classification, as
ture(s) and training examples containing values of input well as ensemble learning algorithms for the classification
and target features, aims to predict values of target processes enhanced with model-agnostic explanations for en-
features of new examples given only their input features. gineering decision making.
If target features are discrete (categorical) we have a ML was also used for making predictions in environmental
classification task, while if target features are continuous sustainability to estimate life cycle assessment based green-
we have a regression task. house gas emissions of natural versus glass fiber reinforced
ii) Unsupervised learning: aims to discover structure (cat- automotive parts that are used for car lightweighting [10].
egories and regularities) in the data. An example is Several ML algorithms for this problem were compared (lin-
clustering. ear regression, Bayesian regression, Poisson regression, NN,
iii) Reinforcement learning: aims to optimize longer-term boosted decision tree, and decision forest).
agent behavior based on punishing and/or rewarding its
performed actions. E. Natural Language Processing
Although NN have a long tradition in AI, it is only quite NLP is essential for capturing engineering requirements,
recently, during the last decade, when NN started to capture as well as customer impressions and preferences in AY.
the attention of main stream AI research and applications. NLP is very often used in conjunction with ML and text
Current AI places NN research under the wider umbrella mining algorithms for automatic summarization, information
of deep learning (DL hereafter), which itself is considered extraction and decision making. Example AY applications of
a branch of ML. Basically, DL covers not only NN, but NLP in conjunction with ML are presented in [9] and [24] (see
also the whole set of rich and deep hierarchical quantitative Machine Learning subsection). Moreover, natural language
representations using linear and non-linear interconnections text is an important source for automatic construction of
that are currently the focus of ML research and practice. Today AKG [11], [25] (see Knowledge Representation and Reasoning
DL has many practical applications in imagine recognition, subsection). An application of NLP and DL for automated
computer vision, activity recognition, business intelligence, vehicle diagnostics using free-text customer service reports is
NLP, and text mining. discussed in [19].
DL is applied to NLP in conjunction with word repre-
sentations using vector space models, also known as word F. Computer Vision
embeddings. The idea is to capture semantics by mapping each Computer Vision (CV hereafter) is the subfield of AI
word to a numerical vector such that similar or related words interested in endowing intelligent agents with visual perception
are mapped to close vectors, according to a distance measure. and inference capabilities, as typically found in animals and
The mapping is produced by ML applied to large natural humans. There are at least three areas where CV can be ap-
language corpora. For example, an approach combining DL plied in AY: autonomous vehicles, automotive manufacturing,
and word embeddings for automated requirements mapping in automotive supply chains.
automotive system engineering is presented in [24]. A recent and authoritative reference is [30]. It covers all the
Modern vehicles are capable of generating large amounts processes required for autonomous cars: localization, percep-
of data that can be efficiently processed by current ML tion, prediction and routing, as well as decision, planning and
algorithms. Predictive maintenance aims to predict the optimal control. CV is essential for localization and prediction tasks.
maintenance actions of vehicles based on information about Localization can be achieved by combining vision and radar
the system’s health state and/or historical data [29]. Predictive sensors with accurate digital maps. CV is also fundamental for
maintenance is closely related to modelling a vehicle’s normal object detection, scene understanding, tracking and trajectory
behaviour and detecting deviations, so-called anomalies, which prediction that are core perception functions of autonomous
may point to present or evolving failures. A recent survey of cars [7].
use cases and challenges of applying ML for predictive main- An analysis of the benefits brought by the CV systems to
tenance including anomaly detection in automotive systems is automotive manufacturing within the framework of Industry
proposed in [8]. 4.0 and Cyber-Physical Systems (CPS hereafter) is provided

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Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

by [28]. The authors considered the four stages of automotive with AI algorithms. On the other hand, the AI ecosystem
production (press, body, paint and final assembly shops) and is very heterogeneous and it offers a plenty of methods for
identified opportunities for CV at each stage. Interesting approaching AY problems from different perspectives that are
conclusions revealed that most of the results were obtained in difficult to grasp by someone with less experience in the field.
the assembly and body shops, while least of the results were Several applications and opportunities for AI methods were
obtained in the paint shop. Authors observed that CV is mainly presented including Knowledge Representation and Reason-
employed in automation procedures, as well as for spotting out ing, Intelligent Agents, Machine Learning, Natural Language
minor defects, while more advanced, self-adaptable and multi- Processing, Computer Vision, AI Search Algorithms, AI &
integration features of smart automotive factories should be Ethics. Based on our brief overview, we can conclude that
explored in the near future. AI can successfully complement existing AY methods and
Regarding the automotive supply chain application, object products, leading to a higher performance of AY products
recognition using DL for counting car components to support and processes, and thus better meeting the requirements from
handling and packing processes in automotive supply chains industry, business, environment, and society.
is proposed in [12].
ACKNOWLEDGMENT
G. AI Search Algorithms
All content presented in this paper has been created by
Intelligent optimization based on AI search methods involv- the authors and funded by the European Union under the
ing evolutionary and meta-heuristic algorithms can be used ERASMUS PLUS KA2 with GA 612522-EPP-1-2019-1-EL-
for solving optimal design problems in AY. Usually these EPPKA2-KA project entitled “Beyond the border of elec-
problems are NP-hard and their direct solving using searching tric vehicles: an advanced interactive course” with acronym
or other mathematical programming approaches is unfeasible EDRIVETOUR.
for realistic settings. The information and views set out in this document are
A comparative analysis of genetic and swarming algorithms those of the authors and do not necessarily reflect the official
for supply chain optimization in AY is proposed in [32]. A opinion of the European Union. Neither the European Union
neuro-tabu search approach to manufacturing scheduling from institutions and bodies nor any person acting on their behalf
a company producing subassemblies for the AY is discussed may be held responsible for the use which may be made of
in [33]. the information contained therein.
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Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Nanotechnology 2022: A student perspective

Lainas Dimitris , Karaziotis Nikolas , Paleochorinos Dimitris
International Hellenic University, Thessaloniki , Greece

In this course we are willing to create a poster for the conference on December 2023 which
will explain with every detail all the parameter and topics of nanotechnology. We wouldn’t be
able to create our project without the help of our colleagues because our information is based
on their tasks. Our poster will include the most important information from each topic. For
example nano-surgery¹ is the application of nano-mechanics in medicine and in surgery with the
use of molecular tools and the molecular knowledge of the body. Also, molybdenum disulfide² is
a dihalide transition metal consisting of a molybdenum atom between 2 sulfur atoms, is a
hexagonal crystal with a multilayer structure which is found in 2 forms, bulk and monolayer.
Another very important topic which we will touch is nano-medicine³ which is separated in 5
categories cosmetology, nano-robotics, cancer, pharmacology and cell repair. As for MOSFET
7nm⁴ is one of the latest process nodes in production today that provides shrink down
transistors, offering improvement in silicon area utilization and power efficiency. Quantum
Computers⁵ are one of the most important topics because they use as measurement unit Oubit
instead of Bit which is exponentially stronger in computing power. Graphene chemical sensors⁶
and especially biosensors have developed rapidly in recent years and their contribution to
Biomedicine is now very important. One more topic is Single-electron nano-electronics⁷ which
relies on the controlled transport of single electrons within solid-state devices. The operation of
the devices is based on the tunnel effect, i.e. the transfer of an electron through a thin layer of
dielectric. The last topic which we will analyze is nanotubes of carbon in order to make carbon
nanotubes we need a periodic structure along the tube's axis and a finite structure in the
perpendicular to the axis direction.

References
[1] Papadopoulos N., Gkatzionis A., Kratounis G. /[2] Iakovidis S., Exintaris I., Kamarinos I., Doukakis D.
/[3] Belidou D., Marko B., Pourliaka A. P.,Stergioulas D., Tekos K. /[4] Peidis F., Karampasis G., Varelas I.
/[5] Antoniadou A., Sketeri D., Soulaki K. M. /[6] Mavridopoulos B., Bezirakis I., Kalamaridis G., Karapali
M. /[7] Fotoglou K., Karras D., Marantidou D., Karidi A. N., Nathanailidis T.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Utilizing potential operators on quantum walk

evolution
Georgios D. Varsamis1,* and Ioannis G. Karafyllidis1,2
1
Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, 67100, Greece
2
Research Associate National Centre for Scientific Research Demokritos, Athens, 15342, Greece
*[email protected]

Quantum walks, introduced by Aharonov et al. in 1993 [1], are the quantized version of classical random
walks. Despite the main principal between quantum and classical random walks being the same, due to
quantum superposition and quantum interference the evolution pattern presents a dissimilar behavior.
Quantum walks are proven to be a universal tool for quantum computation [2], equivalent to the dominant
quantum gate model and can also be implemented as quantum circuits [3]. They are utilized in a vast
spectrum of applications but in most cases, they evolve on free spaces, meaning that no external stimuli are
present. The evolution is affected by the properties of the evolution space – lattice. Yet, a solution to the
Schrödinger’s equation, which describes the quantum walk evolution, comprises a kinetic and a potential
energy. The kinetic energy is described by the definition of the coin and shift operators, that act on the
evolution Hilbert space and depend on the lattice properties. To describe the potential energy we introduce
two different operators that can be utilized for different application. The first one, called phase gate operator
[4], is as the name suggests phase gate operators, that introduce the applied potential energy as a phase
factor to the quantum walker located on the lattice site the potential is applied. By utilizing the phase gate
potential operator, we showed that the lowest eigenstate of tight binding Hamiltonians can be computed
[5]. The second operator, called quantum field potential operator, computes the differences between the
applied potential on neighboring sites. After its action the quantum walker located at the affected site gets
annihilated and new walkers are created on neighboring sites, with a phase factor corresponding to the
potential differences. We utilized the quantum field potential operator, to introduce the applied potential as
weights on a graph where we performed spatial search to compare the performance of quantum and classical
random walks [6].

(a) (b)
Fig. 1. Probability distribution of a quantum walker evolution on (a) a free lattice and (b) a potential affected lattice.
Initial location of the walker is lattice 50. Quantum walk evolves for 40 discrete time steps.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

References
[1] Y. Aharonov, L. Davidovich, and N. Zagury, “Quantum random walks,” Phys. Rev. A, vol. 48, no. 2,
pp. 1687–1690, 1993, doi: 10.1103/PhysRevA.48.1687.
[2] N. B. Lovett, S. Cooper, M. Everitt, M. Trevers, and V. Kendon, “Universal quantum computation
using the discrete-time quantum walk,” Phys. Rev. A, vol. 81, no. 4, p. 042330, 2010, doi:
10.1103/PhysRevA.81.042330.
[3] B. L. Douglas and J. B. Wang, “Efficient quantum circuit implementation of quantum walks,” Phys.
Rev. A, vol. 79, no. 5, p. 052335, 2009, doi: 10.1103/PhysRevA.79.052335.
[4] I. G. Karafyllidis and G. Ch. Sirakoulis, “Quantum Walks on Quantum Cellular Automata Lattices:
Towards a New Model for Quantum Computation,” in Cellular Automata, Cham, 2018, pp. 319–327.
doi: 10.1007/978-3-319-99813-8_29.
[5] G. D. Varsamis and I. G. Karafyllidis, “Computing the lowest eigenstate of tight-binding
Hamiltonians using quantum walks,” Int. J. Quantum Inf., vol. 20, no. 05, p. 2250012, 2022, doi:
10.1142/S0219749922500125.
[6] G. D. Varsamis, I. G. Karafyllidis, and G. Ch. Sirakoulis, “Hitting times of quantum and classical
random walks in potential spaces,” Phys. Stat. Mech. Its Appl., vol. 606, p. 128119, 2022, doi:
10.1016/j.physa.2022.128119.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Hybrid Quantum Algorithms

Ioannis Liliopoulos 1,* and Ioannis G. Karafyllidis1,2
1
Department of Electrical and Computer Engineering, Democritus University of Thrace, Xanthi, 67100, Greece
2
Research Associate National Centre for Scientific Research Demokritos, Athens, 15342, Greece

*[email protected]

Quantum Algorithms are a crucial part of quantum computing and have been developed very fast since the
first steps of the second quantum revolution. They can be classified into two subcategories depending on
whether they run solely on quantum computers, such as Schor’s algorithm [1], Grover’s algorithm [2] to
name a few or they run partially on quantum and classical computers, hence the name “Hybrid Quantum
Algorithms”, such as QAOA [3] and VQE [4] algorithm. Hybrid quantum algorithms can be utilized in a
wide spectrum of applications, ranging from chemistry and medical treatment development to robotics and
autonomous driving. Most of the problems, hybrid quantum algorithms trying to tackle, are complex
optimization problems, subject to linear and quadratic constraints. As Lukas [5] proposed, in order to be
accurately solved, these problems must be mapped into an Ising Hamiltonian formation. An Ising
Hamiltonian expresses the energy of an Ising model. This model allows physical systems to be encoded
into optimization problems and it is widely used in statistical mechanics. So, the goal of these hybrid
quantum algorithms is to determine the lowest energy state of this Ising Hamiltonian, known as the
minimum eigenstate of the system, which is the optimal solution to the optimization problem mentioned
before. Utilizing the VQE and QAOA algorithms we managed to obtain the optimal solutions for various
instances of the knapsack and graph coloring problems. These problems are quite famous NP-Complete
problems with applications in economy, telecommunications and many other fields. All our experiments
were executed on IBM’s quantum computers through the IBM’s Qiskit framework [6], which is part of the
IBM Quantum program [7].

Fig. 1. Probability of finding the minimum eigenstate for a 5-qubit instance of the knapsack problem, with the use of
the VQE algorithm. This algorithm was executed on the IBM’s ibm_quito quantum computer.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

References
[1] Shor, Peter W. "Polynomial-time algorithms for prime factorization and discrete logarithms on a
quantum computer." SIAM review 41.2 (1999): 303-332.
[2] Grover, Lov K. "A fast quantum mechanical algorithm for database search." Proceedings of the twenty-
eighth annual ACM symposium on Theory of computing. 1996.
[3] Farhi, Edward, Jeffrey Goldstone, and Sam Gutmann. "A quantum approximate optimization
algorithm." arXiv preprint arXiv:1411.4028 (2014).
[4] Peruzzo, Alberto, et al. "A variational eigenvalue solver on a photonic quantum processor." Nature
communications 5.1 (2014): 1-7.
[5] Lucas, Andrew. "Ising formulations of many NP problems." Frontiers in physics (2014): 5.
[6] ΙΒΜ Qiskit. Open-source quantum development. https://qiskit.org/, 2022
[7] IBM Quantum. https://quantum-computing.ibm.com/, 2022

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Conversion of a Climate Chamber to a

Plant Growth Chamber
F. T. Stoupas, A. T. Hatzopoulos, V.D. Vassios and M.S. Papadopoulou
Department of Information and Electronic Engineering

[email protected] , [email protected], [email protected], [email protected]

Abbreviations and Acronyms

Abstract—This paper presents the upgrade of a climate
chamber to a plant growth chamber. Initially, the capabilities of a ADC Analog to digital converter
simple climate chamber are presented. Next, the needs of plant CO2 Carbon dioxide
growth are analyzed and the conversion procedure is shown. The LED Light emitting diode
plants, in order to grow, have more needs than a controlled MCU Microcontroller unit
temperature and humidity. So, the upgraded chamber, except for PC Personal computer
the mandatory capabilities, must fulfill a series of optional add-ons PTC Positive temperature coefficient
to support the research on this scientific area. Depending on the
economic budget, the researcher can select the most needed
options [1-3]. This paper presents a medium budget conversion,
including the initial necessary repairs of the devices and electric II. CONTROLED CLIMATE CONDITIONS
circuits. Also, presents the needs of the plants, the new modules The plant growth chamber’s interior, exterior and the main
and the way the researcher can use them [4-5]. electric panel can be seen in figure 1.
Index Terms — Climate chamber, controlled temperature,
controlled humidity, plant chamber, controlled light intensity,
plant growth chamber.

I. INTRODUCTION

C limate chambers are devices that exist in the market for

many decades. Their advantages are the controlled
temperature and humidity. The middle and high budget
chambers have good thermal insulation and this allows them to
achieve a quite uniform temperature dispersion inside, with a
low electric power cost, which is something very important the
last years, especially in very warm or very cold regions.
Controlled humidity is usually implemented with a water spray
nozzle and a water pump. Finally, a fan is placed inside the
chamber to help the heating or cooling and the uniform
humidity dispersion inside the chamber. In the countryside, the
plants have changing conditions regarding light intensity,
humidity, carbon dioxide (CO2) in the air and water with
ingredients in the soil. A plant growth chamber must have a
Fig 1. The chamber’s interior, exterior and the electric panel
system to control temperature and humidity, like the climate
chamber, and additionally must supply controlled light and
CO2. Finally, periodically or on demand, the researcher can A. Temperature control system
provide the desired water quantity and ingredients in the soil. The plant growth chamber must have a temperature control
With a low budget available, after the needed repairs on the system. In this chamber a temperature controller LAE
damaged equipment, the conversion of the chamber took place Electronics MTC12 with a PTC thermistor sensor is installed.
and the steps are presented. The sensor is positioned inside the chamber. The temperature
controller is positioned on the main electric panel door and has

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Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

two relay outputs (figure 2, Out1 and Out2) controlled by the droplets have a uniform spread on all the plants, regardless of
comparison of the measured temperature with two threshold their position in the chamber.
values stored in memory, so that different devices for heating The relative humidity controller is the HC-231 [6] and has
or cooling can be used. The heating is done by a 2 kW resistor only one relay output. The user can set in the controller’s
positioned above the fan and controlled by output 1. The memory the desired value and when the measured value is
cooling is offered by a cooling machine compressor, which is below this value, the relay enables a power relay in the main
installed outside the chamber. The cooling compressor is electric panel and the last gives power to the humidifier.
powered through a separate power line by a user-handled switch
on the electric panel door (figure 2, K1). The temperature
controller relay output (figure 2, out 2) drives only the freon
magnetic valve (figure 2, Y1) of the cooling fluid circuit. The
chamber fan constantly circulates the air to achieve a uniform
temperature dispersion. With the qualitative thick isolation
inside the chamber walls, this temperature uniformity is done
better than the required level and economically. The total
temperature controlling system can be enabled manually (figure
2, K1) and the preferred temperature limits cannot be changed, Fig 3. The humidity automation system.
unless the user does this locally. Finally, as needed, the electric
power is controlled by power relays and safety is guaranteed by
the appropriate electric automatic fuses. The electric circuit is C. Lighting control system
shown in figure 2. During the day, the light in nature has different intensities.
The simple climate chambers usually have only fluorescent
lights, which have a fixed intensity and spectrum. The plant
growth chamber must be able to simulate the 24-hour light,
which means low intensity for the morning and evening
simulation, intense light for the noon and dark for the night [7].
For this work, three different fluorescent lamp circuits and one
incandescent lamp circuit are installed. Therefore, different
intensity can be configured with the selected number of light
circuits that are enabled and the incandescent lamps can give a
different spectrum. It is also possible to install LEDs with
different wavelength emissions to investigate the effect of each
wavelength on the plant growth rate [9].
Each lamp set can be enabled manually and separately by the
user with the appropriate switch on the electric panel door.
Also, there is the capability to select different time periods of
operation for each circuit. Figure 4 shows the electric circuits
Fig 2. The automation circuit for cooling and heating. and the arrangement of the lamps for the two lamp panels on
both sides of the chamber. Finally, all the windows on the sides
of the chamber were covered so no ambient light inserts in it.
B. Humidity control system
The air humidity is important for the study of plant growth
and so is the measurement and the control. The researcher must
have the capability to set the desired level of relative humidity,
like in the dry atmosphere of summer or the moist atmosphere
of autumn, or even a tropical region climate. The relative
humidity control system consists of a sensor, a controller and a
humidifier (figure 3) which adds humidity but cannot reduce it.
The reduction is possible with a dehumidifier but the economic
budget does not allow such a device.
The relative humidity sensor is capacitive and has a very fast
response when there is an air flow. It communicates through 4-
20mA current loop with the humidity controller and can
measure in the range of 0-100% RH. The humidifier is a Fig 4. Lighting system with 4 different circuits and lamps
centrifugal device and has a small turbine that rotates very fast,
elevates and breaks water drops into small droplets and then
lifts them up in the chamber. With the help of the fan the

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

III. MONITORED CLIMATE PARAMETERS voltage of the amplifier, two-point adjustment was used, on the
The plant growth chamber cooling, as mentioned above output voltage shift and on the bridge output in balance. Finally,
needs to measure more parameters than temperature, humidity a comparison of the measurements was done against a
and light intensity [8]. Therefore, an electronic circuit was commercial thermometer and the comparison showed that the
developed to measure CO2 concentration and soil temperature. measurement error was more than satisfied and there was no
The circuit was based on a microcontroller ATmega328 which need for extra calibration or in-software correction.
can communicate through an I2C bus and has an internal 10-bit
resolution Analog to Digital Converter (ADC). These 5

Output Voltage (V)

capabilities were used to measure the CO2 concentration and y = 0.0348x + 1.2127
4
the soil temperature. R² = 0.9995
3
A. MCU board
The MCU board can be seen in figure 5. The MCU is power 2
supplied through a unit that can be configured to work with 5 1
VDC or with 7VDC and above, through a voltage regulator.
The connectors of the CO2 sensor and the thermometer are 0
positioned above the MCU and can be transmitted to a PC 0 20 40 60 80 100
through the UART to USB interface circuit, which is using the Temperature PT100 (οC)
CH340G integrated circuit. Fig 6. PT100 measurements (blue) vs commercial thermometer (red) over
temperature range 0-80 Celsius

C. Carbon dioxide sensor

CO2 is necessary for the plants, especially during the night.
In this chamber CO2 can be measured and regulated easily with
a CO2 bottle and an electronic valve. The used sensor is the
MG-811 on a “GRAVITY-SEN0159” board and outputs an
analog voltage proportional to the CO2 concentration. The
analog output of the circuit is connected to the ADC input of
ADS1015. The measured value is transferred to the MCU and
Fig 5. MCU board (left) and PT100 board (right)
then is shown on the LCD Display with the temperature
measurement and transmitted to user’s PC [10].
The MCU board is not manufactured by a known PCB
manufacturer. The board was handmade and although a tinning
procedure was applied to protect the copper from corrosion and
oxidation, still must avoid high temperature and humidity for a
long time. Therefore, the board is installed outside the chamber.
The two sensors must be installed inside the chamber, which
means that long cables will be used to connect them to the MCU
board. To avoid the voltage drop and the electric noise across
the cables, an intermediate node is used to reduce this undesired
effect. A board with a 12bit ADC ADS1015 was placed inside
the chamber and next to the sensors and the cable length was
reduced to the minimum. The ADC can communicate with the
Fig 7. CO2 sensor (MG-811) and circuit for analog output
PC using the I2C bus, with the quality of measurements
preserved, due to the conversion to a digital format before
transmission.
B. Thermometer board
The thermometer circuit board (figure 5 right) uses a PT100
sensor with a metallic inox enclosure and can be inserted in the
soil of the plants or baptized in a hydroponic system and give
an accurate temperature measurement of the plant’s roots. The
PT100 is a “resistor temperature dependent” sensor and is
positioned in a 1/4 Wheatstone resistor bridge with linearity Fig 8. Main electric panel, control switches and connection board inside the
error below 2.5%. The voltage difference of the bridge goes to chamber
the input of an instrumentation amplifier AD623. To avoid any
small voltage offsets, even the very small 25μV input offset

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

IV. CONCLUSIONS AND FUTURE WORK

For research needs a climate chamber is converted to a plant
growth chamber and the following power circuits are
implemented:
i. Compressor circuit for cooling
ii. Fan circuit
iii. Heating resistance circuit
iv. Fluorescent lamp circuits No. 1 to 3
v. Incandescent lamp circuit No. 4
vi. Humidifier circuit
The researcher is able to control or measure air temperature,
soil or liquid temperature, relative humidity, light with different
intensity and spectrum and CO2 concentration. The
measurements are shown on the electric panel door, on LCD
display and transmitted to PC for data-logging.
The next steps of this work could be a remote controlled soil
ingredients analyzer and soil watering system. Also, very useful
for the user could be a fully automated measuring and control
system with data-logging based on an application on a PC and
remote control of the power circuits.

REFERENCES
[1] E. H. Vickers and J. E. Bennett, "Optimal estimation and control of
an environmental plant growth chamber," [1989] Proceedings. The
Twenty-First Southeastern Symposium on System Theory, 1989,
pp. 47-49, doi: 10.1109/SSST.1989.72432.W.-K. Chen, Linear
Networks and Systems. Belmont, CA: Wadsworth, 1993, pp. 123–135.
[2] J. Skoda, M. Krbal, M. Parma, S. Sumec, P. Baxant and J. Stepanek,
"Growth chamber illumination with a special luminaire," 2015 16th
International Scientific Conference on Electric Power Engineering (EPE),
2015, pp. 42-45, doi: 10.1109/EPE.2015.7161169.
[3] J. Treder, A. Borkowska, W. Treder and K. Klamkowski, "The effects of
LEDs on growth and morphogenesis of vegetable seedlings cultivated in
growth chambers," 2016 IEEE Lighting Conference of the Visegrad
Countries (Lumen V4), 2016, pp. 1-4, doi:
10.1109/LUMENV.2016.7745542.
[4] Hey, J., Liang, T.J., Bin, S., “Modelling and simulating the microclimate
of a modular plant growth chamberdesigned for indoor farming”, Thermal
and Fluids Engineering Summer Conference, 2022-May, pp. 1215–1221
[5] Graamans, L., Baeza, E., van den Dobbelsteen, A., Tsafaras,
I., Stanghellini, C., “Plant factories versus greenhouses: Comparison of
resource use efficiency”, Agricultural Systems, Volume 160, February
2018, Pages 31-43.
[6] http://www.faran.co.kr/eng/hr15.php, as seen on 29/11/2022
[7] L. Marcos and K. V. Mai, "Light Spectra Optimization in Indoor Plant
Growth for Internet of Things," 2020 IEEE International IOT, Electronics
and Mechatronics Conference (IEMTRONICS), 2020, pp. 1-6, doi:
10.1109/IEMTRONICS51293.2020.9216421.
[8] J. González, V. Villarreal, L. Muñoz and M. Nielsen, "Cultivation
Chamber for Remote Management of Environmental Parameters of
Horticultural Seedbeds," 2021 16th Iberian Conference on Information
Systems and Technologies (CISTI), 2021, pp. 1-6, doi:
10.23919/CISTI52073.2021.9476574.
[9] Jingli Yang, Jinnan Song and Byoung Ryong Jeong, “Lighting from Top
and Side Enhances Photosynthesis and Plant Performance by Improving
Light Usage Efficiency”, Int. J. Mol. Sci. 2022, 23(5), 2448;
https://doi.org/10.3390/ijms23052448
[10] https://image.dfrobot.com/image/data/SEN0159/CO2%20Sensor%20V1
%20SCH.pdf, as seen on 29/11/2022

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Design, Simulation and Construction of a TIG

Welding Apparatus
A. Vlachos*, Fotis Stergiopoulos and D. Triantafyllidis,
International Hellenic University / Department of Industrial Engineering and Management

*Corresponding author: [email protected]

Abstract — This paper presents the design and construction of a 𝐷𝑚𝑎𝑥 Max duty cycle of the converter
metal welding device (TIG Welder) which consists of inverter 𝑃𝐷𝑖𝑠𝑠 Power dissipation
power circuits as well as analog circuits which are necessary to 𝑉𝐶𝐸 Voltage potential between collector and emitter
control the process. It focuses on the calculations and simulations
of the power electronics of the two-switch forward convert, using
𝑉𝐺𝐸 Voltage potential between gate and emitter
SPICE analysis software. 𝑉𝑐𝑒𝑆𝑎𝑡 Saturation voltage between collector and emitter
𝑇𝐽 𝑚𝑎𝑥 Maximum junction temperature
Keywords— Power Electronics, SPICE, Analog Circuits, TIG TABLE I: MACHINE SPECIFICATIONS
Welder
Input voltage AC 230V single phase
I. INTRODUCTION
Open circuit output voltage 50V
Metal welding is a fabrication process where two or more
pieces of metal are fused together using heat. The heat can be Welding current range 30 to 120A
produced by an electric arc that melts the metals forming a joint
after cooling down. Tungsten Inert Gas (TIG) welding is the Arc start method High Frequency (HF) Start
process where an electric arc is generated between the base
Gas control On/Off solenoid
metal and a non-consumable electrode made of tungsten. While
the metals are liquid, additional metal of the same alloy is TIG Functions Pre and Post Flow control,
needed to be purred into the weld pool to form a strong joint Pulse Welding, “Cold welding”
using a consumable filler rod. The weld pool is protected by an
inert gas shield instead of slag that is used in stick welding. The
III. APPARATUS OPERATION
gas that is mostly used is argon and sometimes helium.
To create such an arc, a welding machine is needed to The proposed apparatus is specifically designed for the TIG
provide the current and the voltage (typically 20 to 200A, 15 to welding process. In order to make the process more user
40V). Welding machines use mains input 110 or 230V AC friendly, a contactless arc start method is implemented.
(single or 3-phase) and convert it to AC or DC output. Older Basic usage: Once the user presses and holds the button on
types of welding apparatus use a large iron core transformer to the torch, the gas solenoid opens and the gas starts to flow for a
step down the voltage and a mechanical magnetic shunt to limit specific time (“pre flow”). After that time period, the high
the current. The downsides are that these machines are really current arc starts with the help of a high frequency high voltage
heavy, have limited control of the current, low duty cycle and arc and the welding begins. Once the user releases the button
low energy efficiency. The newer, inverter-based machines that the arc extinguishes and the gas flows for an additional time
rely on semiconductors to convert the mains power, have called, “post flow”. The pre and post flow times are adjusted
serious advantages over the older types of apparatus. The from two potentiometers on the front panel.
welding current waveform is precisely controlled in the time
domain, having different shape waveforms according to the IV. FEATURES
user settings. This paper focuses on the design and simulation • Pulse welding: When this function is enabled, the welding
procedure of the power electronics of an inverter welding current fluctuates between a high and a low level at a
machine constant rate. Melting and fusion of the metals is achieved
when the current is at its high level while the low level
II. ABBREVIATIONS AND ACRONYMS current maintains the arc with minimal heating. This allows
𝑁𝑠 Number of turns of the secondary winding for more controlled heat input to the work pieces and its
𝑁𝑝 Number of turns of the primary winding beneficial when welding thin metals (0.5 to 1mm). The high
𝐵𝑠𝑎𝑡 Magnetic Saturation Flux Density and low current levels as well as the rate can be adjusted by
𝐴𝑒 Effective area of the transformer core the user on the front panel.
𝐴𝐿 Inductance factor; 𝐴𝐿 = 2
𝐿 • “Cold welding”: This feature enables the user to utilize a
𝑁
single-shot high current low duration arc. When the button

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

on the torch is pressed, the operation is the same as the basic close to 2000𝜇𝐹 is selected, aiming for a voltage ripple less
usage, while the arc extinguishes after a short period of time than 45𝑉𝑝−𝑝 with average current of 8A, using the formula:
(100 to 1000ms), adjustable on the front panel. This 𝐼𝑙𝑜𝑎𝑑
𝑉𝑟𝑖𝑝𝑝𝑙𝑒 = (1)
function is used for autogenous welding on very thin metals 2𝑥𝑓𝑥𝐶

(0.1 to 0.5mm). It is also used to weld copper, which has a The simulation verifies this calculation. Four capacitors in
very high heat conductivity, making it hard or impossible to parallel of 470𝜇𝐹/400𝑉 will meet the design requirements,
weld it with the normal TIG welding process. instead of a single 2000𝜇𝐹, minimizing the cost.
• HF Start: This feature starts the welding arc without having B. Forward Converter Power Stage
the tungsten electrode touch the work pieces and eliminates Transformer calculations: A two-switch forward converter
the risk of tungsten contamination. At the start of the [2] [4] is employed, stepping down the input DC voltage (325V)
process, a high frequency high voltage, low current arc is to a low DC voltage of 50V. The ratio of the transformer turns
generated for roughly 150ms between the tungsten electrode need to be calculated using the formula below:
and the metal. That arc ionizes the gas and the high-current 𝑁𝑠 𝑉𝑜𝑢𝑡 50
= = = 0.307 (2)
welding arc starts. The distance between the tungsten 𝑁𝑝 𝑉𝑠𝑢𝑝𝑝𝑙𝑦 𝑥 𝐷𝑚𝑎𝑥 325 𝑥 0.5
electrode and the work pieces must be 1-5mm. Where 𝐷𝑚𝑎𝑥 is the maximum duty cycle of the converter
The core of the transformer is a ferrite material, specifically a
V. ELECTRONIC CIRCUITS CALCULATIONS AND SIMULATIONS manganese-zinc alloy (MnZn), with code N27. The ferrite part
The simulation of the circuits is achieved using with the number is B66387G0000X127 with 𝐵𝑠𝑎𝑡 = 320𝑚𝑇, 𝐴𝑒 =
LTspice [5] software, which is freely available. The apparatus 535𝑚𝑚2 and 𝐴𝐿 = 7200𝑛𝐻/𝑁 2 The minimum primary
has three main circuits that are simulated, namely the input full winding turns can be determined using the formula below, with
bridge rectifier, the DC-DC converter and the analog control a switching frequency of 60𝐾𝐻𝑧.
1
circuit. Each circuit is simulated separately. A general block 𝑉𝑖𝑛𝑚𝑎𝑥 𝑥 𝐷𝑚𝑎𝑥 𝑥𝑓
𝑠
𝑁𝑝 > (3)
diagram of the welding apparatus is displayed below. 𝐵𝑠𝑎𝑡 𝑥 𝐴𝑒
The minimum turns are calculated using (3) resulting in 𝑁𝑝 >
15.81 or 𝑁𝑝 > 16. In order to have a safety margin and not
saturate the core of the transformer 20 primary turns are used.
The secondary winding turns were calculated by using (2),
resulting in 6 turns. The inductance values of the two windings
of the transformer are calculated by using the formula below:
𝐿
𝐴𝐿 = 2 (4)
𝑁
resulting in 𝐿𝑃 = 2.88𝑚𝐻, 𝐿𝑆 = 0.2592𝑚𝐻

Output rectifier diode selection: The voltage rectification of

the secondary winding of the transformer is rectified by 2
Fig1. Block diagram of the power and control circuits.
diodes. Each diode conducts for half of the time on each period,
A. Input Full Bridge Rectifier so the maximum average diode current is the maximum output
current divided by 2 which results in 60𝐴. The diode with part
number (VS-80EBU04) (𝐼𝐹 = 80𝐴, 𝑉𝑅 = 400𝑉𝑜𝑙𝑡, 𝑉𝐹 =
0.92𝑉) is selected for this task, as its package is easy mountable
on the heatsink.
Output inductor calculation: The output filter inductor or
choke minimizes the current ripples of the output of the
converter [3]. The maximum required current is 120A. Due to
the nature of the welding process, the current ripple can be up
to 20 Ampere due to the fact that the average heat produced by
the arc, is a product of the average current. On the other side,
the larger the ripple, the more unstable the arc will be at low
current values. Output current ripple selected at 10A. The
output voltage during welding is about 15-25Volts.
The minimum inductance is calculated by using (5), resulting
in 𝐿𝑐ℎ𝑜𝑘𝑒𝑀𝐼𝑁 = 39.9𝜇𝐻, 𝑤𝑖𝑡ℎ the following parameters: 𝑉𝑜 =
𝑉𝑜 25
25𝑉𝑜𝑙𝑡, 𝛥𝐼 = 10𝐴 𝑉𝑓 = 0.93𝑉, 𝐷𝑚𝑖𝑛 = = = 0.076
𝑉𝑖𝑛𝑚𝑎𝑥 325
1
×(𝑉𝑜+𝑉𝐹 )×(1−𝐷𝑚𝑖𝑛 )
Fig2. Schematic and simulation result of the bridge rectifier in LTspice. 𝑓𝑠
𝐿𝑐ℎ𝑜𝑘𝑒 > (5)
The mains input power is fed directly to a full bridge rectifier. 𝛥𝐼

The resistor 𝑅𝑙𝑜𝑎𝑑 represents the inverter load. A capacitance A toroidal core is selected for this application with the part

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number (T184-26). The material is iron powder, with

inductance factor 𝐴𝐿 = 169𝑛𝐻/𝑁 2 . Using two cores together
doubles the inductance factor to 338𝑛𝐻/𝑁 2 and reduces the
heat dissipation of each core. The minimum required turns are
calculated by using (6), resulting in 𝑁𝑐ℎ𝑜𝑘𝑒𝑀𝐼𝑁 = 11 𝑡𝑢𝑟𝑛𝑠.
The selected inductor turns are 11.
𝐿𝑐ℎ𝑜𝑘𝑒𝑀𝐼𝑁
𝑁𝑐ℎ𝑜𝑘𝑒𝑀𝐼𝑁 > √ (6)
𝐴𝐿
Transistor selection: The IGBT type transistor is selected
over MOSFETs because of the lower cost for the same electrical
switching specifications. They are designed for higher
operating voltages, typically 600Volts and above and can
withstand high current spikes resulting in higher reliability for Fig5. Recovery diode current (green) and transformer voltage (blue)
this application. They are ideal for frequencies up to 80KHz,
while MOSFETs are suitable for frequencies up to 200KHz. Recovery diode selection: The recovery diodes must
The IGBT with part number (IGW30N60TFKSA1) will be used withstand the average recovery current as well as the peak
in a TO-247 package with electrical characteristics: 𝛪𝐶 = currents [6]. The diode with part number (MUR1560) is chosen
39𝐴 @ 𝑇𝐶 = 100𝐶, 𝑉𝐶𝐸 = 600𝑉, 𝑃𝐷𝑖𝑠𝑠 = 187𝑊, 𝑉𝑐𝑒𝑆𝑎𝑡 = with characteristics: 𝐼𝐹 = 15𝐴, 𝑉𝑅𝑅𝑀 = 600𝑉, 𝑉𝐹 =
1.5𝑉, 𝑇𝐽 max = 175𝐶. 1.5𝑉, 𝑡𝑟𝑟 = 60𝑛𝑠.
Taking account all the above calculations, the converter
circuit is drawn. The magnetizing current of the transformer is
modeled by L4 and R5. The gates of the IGBTs are driven by a
1:1:1 transformer (L6, L7, L8) and the gate driver circuits. The
output load is modeled by a resistor 𝑅𝑎𝑟𝑐 . A primary sensing
circuit is also presented. The simulation parameter (D = 0.38)
sets the duty cycle of the gate driving circuits to 38%, resulting
of an average output current of 150A.

Fig6. IGBT waveforms: 𝑉𝐶𝐸 , 𝐼𝐶 , 𝑃𝑑𝑖𝑠𝑠 (top left) | IGBT waveforms: 𝑉𝐺𝐸 , 𝑃𝑑𝑖𝑠𝑠
(top right) | Output current ripple (bottom left) | Current of D1, D2 and 𝑉𝐺𝐸 (red)
waveform (bottom right)

Fig3. Schematic of the forward converter in LTspice. Snubber networks: RC or RCD circuits are used in order to
dampen oscillations and prevent over-voltages from destroying
the semiconductors. They are essential in this kind of high-
power circuit, as stray inductances that occur in the real
application can induce high voltage spikes. Although the exact
component values cannot be determined, the simulation helps
to identify a reasonable compromise. Following that,
experimenting with different values in the real application is
required.
PWM Controller: The PWM controller circuit is not
simulated as the model of the integrated circuit (IC) could not
be found. The PWM controller IC is the NCP1252. A typical
application schematic can be found in its datasheet which is
Fig4. IGBT current (green) and voltage (blue). modified to suit this application.

VI. CONTROL CIRCUIT, HF CIRCUIT AND FRONT PANEL

In order to have an interface with the user, a control panel is
required. All the inputs are fed into a logic circuit (control
circuit) consisting of logic gates, comparators and passive

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components that control the gas solenoid, control the high

frequency high voltage circuit and set the desired current in the
PWM controller. Analyzing these circuits is beyond this scope
of this paper. The full working schematics of these circuits are
presented below

VII. FINAL SCHEMATICS, PCBS AND CONSTRUCTION

Fig10. Finished product.

Fig7. Schematic of the two-switch forward converter with PWM controller.

Fig11. Bench testing and acquiring measurements with the oscilloscope.

IX: CONCLUSIONS

A prototype welding apparatus has been designed and

simulated. Following its construction, its operation has been
tested with great success verifying the procedure followed.

Fig8. Schematic of the control logic circuit.

REFERENCES
[1] My Diploma Thesis: Design and Construction of a device for arc
welding of metals
[2] https://en.wikipedia.org/wiki/Forward_converter
[3] Forward Converter Output Inductor Design
[4] Two-Switch Forward Converter Application Note
[5] LTspice official site
[6] Power Diodes: Characteristics & Softness Factor
[7] What is Tungsten Inter Gas (TIG) Welding?

Fig9. PCB of the two-switch forward converter and PWM controller (top layer
left and bottom)

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

E-DRIVETOUR: an interactive blended course

on electric vehicle technology
Theodoros I. Kosmanis and Dimitrios Ν. Tziourtzioumis
Laboratory of Energy Systems, Department of Industrial Engineering and Management, International
Hellenic University, Thessaloniki, Greece

in the International Hellenic University and vice versa. Private

Abstract—The educational procedure implemented in the frame companies and research institutes specialized in the field of
of an Erasmus Plus Knowledge Alliances (KA2) program on vehicle electrification, like the development of related
electric vehicle technology is presented in this paper. In the project technology or the production of specialized vehicles have
entitled “E-DRIVETOUR: Beyond the border of electric vehicles:
an advanced interactive course” a blended learning approach has
provided the required practical knowledge on EV production,
been proposed, which turned to be very efficient when followed measurements, hybridization and troubleshooting as well as
shortly after COVID-19 pandemic. The attendants had the vehicle maintenance.
opportunity to participate in a multidisciplinary curriculum
focusing on vehicle electrification through theoretical, online II. E-DRIVETOUR CURRICULUM
lectures, large scale laboratories requiring physical presence,
advanced medium sized projects and industrial training. A form The curriculum, composed of 24 appropriately selected
of project-based learning approach had been implemented. courses-topics, promises to cover the core and more advanced
vehicle electrification issues combined with principles of
Index Terms— Electric vehicles, augmented reality, education, entrepreneurship and automotive business administration and
project-based learning marketing. The multidisciplinary course developed includes
also a small but important contribution from cultural courses
(Fig. 1).
I. INTRODUCTION

E LECTRIC cars, scooters, bikes and any other kind of

vehicle is nowadays a reality and not something exotic or
having only research interest as it seemed until several years
ago [1]. Electric vehicles and related management procedures
are widely spread all over Europe and constantly increase their
market share. However, this penetration as well as the increase
in supporting infrastructure does not uniformly appear inside
the EU. In countries of the Southern and East Europe, and
especially the Balkan Peninsula, electric vehicle market
penetration is not considered important. As a result, the existing Fig. 1. Picture with defective transistor found inside the wheel motor.
know how regarding vehicle electrification in a national
(referring to the Balkans), not to mention regional or local level The curriculum is a blend of traditional and innovative
is practically very small. Infrastructure, like charging stations, teaching methodologies involving in-class (if possible) and web
in this area are rather too limited. This results in a general based courses, traditional experimental laboratories with the
ignorance about vehicle electrification not only of the public but ability to be implemented remotely in an effort to overcome
also of people working in the domain of vehicles. practical problems in attendance, like the one caused by
The educational results from an educational program such as COVID-19 pandemic crisis. Simulation tools have been also a
the E-DRIVETOUR [2], aiming at educating engineers, very important factor of the teaching methodology introducing
mechanics and vehicle related personnel with the difficulties the attendants, students, graduates or professionals, to modern
mentioned above, synergies like the one obtained between technological advances and approaches. Two medium sized,
Universities and companies of different countries has not only project based courses have brought the attendants closer to the
covered the gaps existing in a national level but also provided a real world of electric vehicle technology combined with simple
full range education regarding electric vehicles. Theoretical and internet of things and augmented reality applications. Finally,
practical knowledge on vehicle electrification from Romanian the overall curriculum has been complemented by two weeks of
and Polish Higher Educating Institutes has filled specific gaps industrial practice in the industrial partners of the project.

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The course duration was 5 (teaching) + 3 (preparation and powertrain. Then, they had to acquire data from the powertrain
training) months, including a 14-day industrial experience, after during the vehicle’s operation inside the lab on a dynamometer
the end of the teaching period. During the execution of the and on the road by means of appropriate data acquisition
course, 3 mobility periods have been arranged. For the first 14- equipment. The data received as well as any other information
day period, all students have gathered along with educators in obtained for the specific vehicle were combined with 3D
the premises of the International Hellenic University in models of the vehicle and an augmented reality application in a
Thessaloniki, Greece whereas in the second, similar one the similar way as in the first project. Fig. 3 shows a view of the
gathering took place at the University of Technology and vehicle used.
Humanities in Radom, Poland. All attendants have participated
in the large-scale laboratories including two medium sized
projects. In the third period, all attendants were spread to the
industrial partners in order to perform their 14-day internship
focused on electric vehicle technology. Thus, having completed
all four periods of training (theoretical lectures and 3 mobility
periods), the participants have gained significant theoretical
knowledge on electric vehicle technology but most of all they
have acquired significant practical experience, valuable for
meeting the requirements of an emerging market.

Fig. 3. The Toyota Yaris Hybrid vehicle that was available to the students.

IV. CONCLUSION
Student training on electric vehicle technology through the
cooperation of Universities and related companies is the subject
of this paper. The multidisciplinary educational approach,
emphasizing on its blended dimension (online and with
physical presence, theoretical and laboratorial, project based
and industrial training), is presented.

V. ACKNOWLEDGEMENTS
Fig. 2. Vespa 3D model on Tinker cad.
All content presented in this paper has been created by the
III. MEDIUM SIZED PROJECTS authors and funded by the European Union under the
ERASMUS PLUS KA2 with GA 612522-EPP-1-2019-1-EL-
Divided into six groups of five or six members, the students
EPPKA2-KA project entitled “Beyond the border of electric
had to participate in all laboratory sessions of the course as well
vehicles: an advanced interactive course” with acronym
as the two so-called intermediate projects. These two medium
EDRIVETOUR. The information and views set out in this
sized projects were the peak of students’ laboratory experience.
document are those of the authors and do not necessarily reflect
In the first one, the students had to become familiar with a
the official opinion of the European Union. Neither the
small scale electric vehicle, among the small EV fleet of the
European Union institutions and bodies nor any person acting
Laboratory of Energy Systems of IHU. They had to assembly
on their behalf may be held responsible for the use which may
the vehicle and make sure it operates. Following this, they had
to design a 3D of the vehicle in TinkerCAD software [3] and be made of the information contained therein .
exploit the OpenSpace3D software [4] in order to develop an
augmented reality application that would allow them to present REFERENCES
information of their vehicle in a modern and attractive way. Fig. [1] Global EV Outlook 2020, International Energy Agency, 2020 [Online].
Available: https://webstore.iea.org/download/direct/3007
2 depicts the 3D mode of an electric scooter as it was designed [2] Erasmus Plus KA2 GA 612522-EPP-1-2019-1-EL-EPPKA2-KA “E-
by one of the student teams. The electric vehicles the student DRIVETOUR: Beyond the border of electric vehicles: an advanced
shad to work with were two tricycles, a delta and a tad-pole one, interactive course” Available: https://www.EDRIVETOUR.eu/
[3] Autodesk Tinkercad, Available: https://www.tinkercad.com/
a kart, a bicycle and a scooter.
[4] OpenSpace3D – Open Source Platform for 3D Environments. Available:
In the second one, the procedure was more or less the same. https://www.openspace3d.com/ Accessed: 8/5/2022
There was though a significant difference. The student groups [5] S. A. Rogers, “Evaluation of 2004 Toyota Prius Hybrid Electric Drive
had to work on a Toyota Prius hybrid electric vehicle [5]. At System,” Oak Ridge National Laboratory, May 2005.
https://edrivetour.ea.consulting/pluginfile.php/1010/mod_resource/conte
first, they had to investigate its structure and mainly its nt/3/Toyota%20HEV%20Prius%202004%20Raport%20US.pdf

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E-DRIVETOUR mobility intermediate projects:

An Overview
S. Karasakalidou1, C. F. Draghici2, A. Gkoudinakis1, S. Rosu2, A.-M. Soare2 and A. Tzanetou1
1
International Hellenic University, 2 University of Craiova

Abstract— The purpose of this paper is to present the projects II. INTERMEDIATE PROJECT
that group C of students carried out, during mobility periods in
Thessaloniki and Radom, in the frame of the educational
The electrification of a bike meets various challenges.
program ERASMUS PLUS KA2 EDRIVETOUR [1]. This paper Decisions are to be taken, such as what we should do, but
describes the steps and the results for each project which was more likely what we can do under certain circumstances.
assigned to group C of students, according to certain instructions Initially, we disassembled the bike to keep things in order and
given at the beginning of each mobility period. The implemented to evaluate the existing conditions. The 50cc bike is shown in
methodology is based on existing and effective literature. The Fig. 1.
topic of the first intermediate project is related with the build
and configuration of an electrical bike (scooter) on an existing
50cc bike chassis, advancing its user’s interface with rain sensor
and informative content. The topic of the second intermediate
project is a brief but comprehensive presentation of the hybrid
model of 2004 Toyota Prius.

Index Terms—Electric Vehicles, Battery Electric Vehicles,

Education, Training , Augmented Reality.

I. INTRODUCTION

T LECTROMOBILITY has become important in our era

more than ever. Since we rested our case for more than
hundred years, environmental factors plus political awareness
and determination, really urged scientific community, which
and through industrial realization have managed in a short
period of time, not only to plug us in to the electrical solution,
but also to offer to the world relevant products with high tech
advantages and benefits in terms of equality in comparison to
what we have known so far.
This achievement was delivered by the practical and
theoretical knowledge in certain fields, additionally with the
extensive and non-stop research contributing to the safety and
improvement of the final product.
At the same time the need to secure the acquired knowledge Fig. 1. Yamaha JOG equipped with a 2-stroke single cylinder gasoline internal
emerged, as well as to disseminate it, involving more human combustion engine of 50cc.
resources, especially through the distributive role of education.
Significant link to this direction constitutes the E- Concerning the parts we found, we labeled each one of
DRIVETOUR intensive training program. In the frame of this them, and we took pictures in order to improve wire
program, the participants had the chance to meet each other connections. As shown in Figs. 2 and 3, a controller and a
during mobility periods, after a long time of theoretical motor were predated. Thereafter, we ordered the appropriate
training (lectures), and to carry out various experiments in the battery, taking into account the operation voltage of the motor
laboratory. The intermediate projects, among them, were of and the approximate weight of the bike including one
crucial importance as they required theoretical, practical and passenger. Using the indications disposed on each of the
collaboration skills. Herewith, are presented the intermediate above devices, we found their characteristics via the web,
projects that group C of students conducted. which can be reviewed in the following tables.

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TABLE I project-based learning to the classroom [5]. In Fig. 4, the 3D

MOTOR SPECIFICATIONS [2]
model of a similar bike is presented.
Permanent Magnet DC Motor MY 1020 Furthermore, in Fig. 5, the electronic circuit of the scooter is
shown, including rain sensor and using Arduino board.
Power 1000 W
Input Voltage 48 V
Unload Speed 3700 rpm
Rated Speed 3000 rpm
Rated Current ≤ 35.6 / 26.7 A
Rated Torque 3.2 Nm
Units stands according to SI: W = Watt, V = Volt, A = ampere,
rpm = revolutions per minute, Nm = Newton meter.

TABLE ΙΙ
BATTERY SPECIFICATIONS [4]

DEEP DISCHARGE VRLA AGMGEL120055

Connection 4s1p
Nominal Voltage 48 V
Energy 217,92 Wh
Weight 6,6 kg
Autonomy ≈2 km
Units stands according to SI: Wh = Watt for hours, V = Volt, kg =
kilos, km = kilometers.
Fig. 4. Vespa 3D model on Tinker cad.

B. Rain sensor programming with Arduino Uno

The majority of the electric vehicles have rain sensor
because it is often recommended the driving under normal or
good weather conditions. Under those circumstances, we
couldn't miss than to include one in our electrified scooter.
The code provided [7] investigates whether there is a
droplet on the sensor board or not, and through a serial port,
the output message is consequently “Rain Warning” or “Not
raining” with almost 1 second frequency. (Fig. 6).
C. Open Space 3D
The word “application” may be one of the most common in
use nowadays. The truth is that there is an application for
Fig. 2. OK 10E-4 suitable for 1000W motor. Operating Voltage 48 V [3]. almost everything we do or we use.
That led us to develop our application for the scooter that
makes the experience fancy and friendly to the user, informing
him at the same time, about the technology he is riding on.
Specifically, we developed a QR code in Open Space 3D
(Fig. 7) that can be exported for mobiles, which is capable to
read barcodes located in certain places on bike’s chassis and to
pop up different types of information, like technical data.

Fig. 3. Labeling existed parts.

A. TinkerCad
TinkerCad is an online, open-source application for 3D
design, electronics and coding that really help you to bring Fig. 5. Electronic circuit of the scooter.

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A similar approach was attempted with the output message components (Fig. 9) are reviewed in the following sections
from the rain sensor (Fig. 8), as the aim was the notice to be [7].
readable as live data from the web. Unfortunately, our time
A. Electric Motor
was up to build in the complete application to the scooter’s
electronic circuit. The battery powered motor is a synchronous 8-pole ac
permanent magnet, capable of delivering a peak-power output
of 50 kW with a high supply voltage up to 500 Volts.
Considering the mass of the motor to be 45 kg, the specific
power is estimated to 1.1 kW/kg. Also, it has a maximum
torque of 400 Nm between 0-1500 rpm speed. Finally, it is
designed as a high-efficiency, direct current brushless motor
that uses alternative current.
B. Internal Combustion Engine
The internal combustion engine of Toyota Prius 2004 is
based on the Atkinson Cycle, as all the hybrid electric
applications. Therefore, the 1.5-litter gasoline is designed for
high expansion ratio cycle, while the compression ratio is
13:1. The 4-stroke engine, as motive power source, can output
57 kW at 5000rpm speed, and a maximum torque of 115 Nm
at 4200 rpm speed. The efficiency of the engine is also held
out by its own coolant system, which preserves the level of the
most efficient temperature.

Fig. 6. Experimental setup and part of coding in Arduino IDE.

Fig. 9. Subassembly arrangement. [7]

C. Generator
The Generator is an eight-pole permanent magnet ac device,
Fig. 7. Controller output with QR application that functions as the engine starter, rotating at the high speed
up to 10000 rpm. This high-speed rotation produces high
power density, capable to charge the battery and to
supplement motor’s power requirements.
D. Power split device
The power split device is one of the major transmission
components. Mechanically, is a planetary gear set, that adjusts
Fig. 8. Open space 3D environment for live data.
the power allocation from the engine to the generator and the
wheels, at the same time.
Briefly, the power from engine shaft arrives to the planetary
III. INTERMEDIATE PROJECT II carrier (Figs. 9, 10), which transmits the power to the outer
Toyota Prius of 2004 belongs to the new generation of ring gear and the centered sun gear, through the pinion gears.
hybrid vehicles. Its vanguard lies to the fact that it seamlessly Then, the rotating shaft of the ring gear is directly linked to the
alternates the operation of a petrol engine and the electric motor to produce traction-drive force for the wheels, while the
drive system, with the aim of optimizing range and rotating shaft of the sun gear is directly linked to the generator
performance, achieving up to 80% electric motion. which either charge the battery or supplements the motor. The
The two motive power sources and other important system overall efficiency is optimised under normal driving

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conditions in this way.

E. Battery
The battery of Toyota Prius 2004 is rechargeable, made of
nickel-metal hydride, and features 28 modules in series, 7.2
Volts each. Therefore, the nominal voltage of the battery is
201,6 V, while the specified power is 21kW. It supplies
electricity to the motor, contributing on the efficacy of the
traction force, and receives charging power from the
generator, so an external charging source is not acquired.

Fig. 12. OpenSpace 3D simulation of Toyota Prius 2004.

IV. ACKNOWLEDGEMENTS
All content presented in this paper has been created by the
Fig. 10. Diagram of power split device. [7]
authors and funded by the European Union under the
ERASMUS PLUS KA2 with GA 612522-EPP-1-2019-1-EL-
EPPKA2-KA project entitled “Beyond the border of electric
F. Inverter vehicles: an advanced interactive course” with acronym
The inverter is a closed power control unit (Fig. 11), that is EDRIVETOUR.
consisted of a motor inverter, a generator inverter, a voltage- The information and views set out in this document are
buck/boost converter, an air-conditioning compressor inverter, those of the authors and do not necessarily reflect the official
and a 12V dc-to-dc converter. opinion of the European Union. Neither the European Union
The unit converts the dc from the battery into a three-phase institutions and bodies nor any person acting on their behalf
ac for driving the motor and includes a dc-to-dc converter that may be held responsible for the use which may be made of the
produces 12V for auxiliary equipment. Furthermore, features a information contained therein.
high voltage, bi-directional, dc-to-dc converter that boosts the
200V battery up to a maximum of 500Vdc link, where the REFERENCES
peak-power output of 50kW is achieved, or reduces the higher [1] Erasmus Plus KA2 GA 612522-EPP-1-2019-1-EL-EPPKA2-KA “E-
voltage dc link (that may vary from 200–500V) down to DRIVETOUR: Beyond the border of electric vehicles: an advanced
charge the 200V battery. interactive course” Available: https://www.EDRIVETOUR.eu/
[2] https://robu.in/wp-content/uploads/2020/01/665828-MY1020.pdf
It has its own hybrid drive coolant system, separately from
[3] OK 10E-4 Motor Controller, Available:
the engine-coolant system because the two systems operate at https://www.sxt-scooters.de/en/Spare-parts/Controller-1000-Watt-48V-
different temperatures. for-EEC-Scooter.html
[4] https://www.standard.gr/mpataria-standard-recharge-vrla-agm-12v-
G. OpenSpace3D software 54c2050c10454c5-ah
[5] Autodesk Tinkercad, Available: https://www.tinkercad.com/
A 3D rotating model simulation is outlined in Fig. 12 as [6] https://www.ardumotive.com/how-to-use-the-raindrops-sensor-
developed in the OpenSpace3D software [8], [9]. moduleen.html
[7] S. A. Rogers, “Evaluation of 2004 Toyota Prius Hybrid Electric Drive
System,” Oak Ridge National Laboratory, May 2005.
https://edrivetour.ea.consulting/pluginfile.php/1010/mod_resource/conte
nt/3/Toyota%20HEV%20Prius%202004%20Raport%20US.pdf
[8] OpenSpace3D – Open Source Platform for 3D Environments. Available:
https://www.openspace3d.com/ Accessed: 8/5/2022
[9] T. Anagnostaki, “EDRIVETOUR TS1.12 Intermediate Project –
OpenSpace3D Computer Lab notes” – Accessed: 21/09/2022

Fig. 11. Inverter and converter unit. [7]

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Medium scale projects as a means for educating

students on electric vehicle technology
M. Michailidou1, M. Ciudin2, E. V. Enache2, A. Samaras1 and X. Fejzo1
1
International Hellenic University, 2 University of Craiova

Abstract—This paper describes the collective work of a student

group during two medium scaled projects in the frame of the
Erasmus Plus KA2 programme “Beyond the border of electric
vehicles: an advanced interactive course” with the acronym
EDRIVETOUR. The projects have been elaborated during its
two mobility periods, the first at the premises of the International
Hellenic University (IHU) in Thessaloniki, Greece and the second
at the University of Technology and Humanities in Radom
(UTHR), Poland. The EDRIVETOUR program focused on
educating undergraduate engineering students from different
fields of study such as mechanical or electrical engineering, in the
matter of electromobility and modern technologies. During the
mobility periods various procedures such as the development of
augmented reality applications, collection of technical Fig. 1. The Tad-pole trike as is currently stationed in EVAE laboratory at
specifications and datasheets of electric vehicles, 3D modelling International Hellenic University at Sindos Campus.
and the troubleshooting of a battery assisted Tad-pole tricycle
and a Hybrid Toyota Yaris have been overseen.
A. Maintenance
Before any other procedure took place, it was of great
Index Terms—Electric Vehicles, Battery Electric Vehicles, importance to ensure that the vehicle provided by the hosting
Education, Training , Augmented Reality. university (IHU) functioned properly with all the necessary
mechanical and electrical parts working at their best condition.
For that reason, simple maintenance has been performed under
I. INTRODUCTION the supervision of the technician in charge. For the Tad-Pole
he EDRIVETOUR Erasmus Plus program’s main focus
T was the education of undergraduate students on electric
vehicle technology which would help them develop the
trike a few modifications were made on the mechanical parts
of the vehicle such as inspection of the proper function of the
cassette, cleaning, and lubing of the chain of the vehicle and
necessary skills to be employed in the corresponding inspection of the brakes and their proper operation. On the
automotive industry. In the duration of the program the electrical components of the vehicle the hub motors were
students were divided into five groups. This paper presents the checked through the freeware provided by their manufacturer
activities of Group D. Throughout the three mobility periods (Miromax ltd.) [1] but unfortunately, several problems with
of the program student groups were required to develop the electronic components of the controller of the motor
sensing cluster for automotive applications with prevented the appropriate performance of the electrical
microcontrollers, 3D models of electric vehicle parts, an assisted pedaling.
augmented reality application, simulations as well as maintain
and prepare their assigned vehicle for a racing contest. It B. Modelling and AR Application
should be noted that all the activities mentioned above were As the use of freeware and open-source software was
requirements needed to be met by the university students promoted throughout the entire Erasmus program [2],
attending the Erasmus program for its completion and the Tinkercad software [3] was chosen as the appropriate design
eligibility for receiving the according certification. environment for the 3D modelling of the Tad-pole trike. The
specific software was selected since an STL type file was
essential in its use in the augmented reality application
II. TAD-POLE TRIKE MAINTENANCE AND AR MODELLING
provided as the means to develop the AR code required for the
The first task to be elaborated by all student groups was the project to be appropriately completed.
maintenance of a small-scale electric vehicle. In the case of After gathering all the appropriate dimensions of the vehicle
Group D that was a tad-pole type electric tricycle. [4], the 3D design was elaborated and completed in Tinkercad.
Completion of the 3D model in Tinkercad software has led to
the better understanding of the mechanical and electrical parts
of the vehicle's drivetrain, an extremely significant issue and

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

aim of the project (Fig. 2). The development of the AR code in III. TOYOTA YARIS HYBRID
the OpenSpace3D software [5] has followed. Similarly, to the Tad-Pole trike case of the previous section,
the student group had to troubleshoot a Toyota Yaris Hybrid.
And in more details a Toyota Yaris Hybrid 1.5 HSD, P13,
VNK, 55 kW model line of 2014-2020 with the 1NZFXE
engine [7]. Given the cost and complexity of the hybrid
vehicle, a supervising professor was present in a controlled
laboratory environment. In a dedicated lab of the UTHR, the
typical coding of automotive On Board Diagnostics (OBD)
codes was used in order to troubleshoot the given vehicle (Fig.
5). It is important that real time driving conditions were
simulated by means of chassis dynamometer and that all
graphs depicting the state of charge status of the battery and
Fig. 2. The STL file of the Tad-Pole trike designed in Tinkercad software the rotational speed of the electric motor were collected and
online in order to be used by the OpenSpace3D saftware. recorded through the Bosch ESItronic 2.0 software and the
The OpenSpace3D application has been developed for Bosch KTS 570 diagnostic tool (Fig. 6).
displaying the designed model in three dimensions alongside
all the technical data and specifications relevant to any Tad-
pole trike's information like powertrain characteristics,
mechanical and electrical parts’ specifications as well as
maintenance details that had been previously collected by the
student group. Following the initial version of the model, extra
capabilities were added to the augmented reality application,
such as the simulation of the throttle circuit of the vehicle
using an Arduino Uno microcontroller as a potentiometer that
simulated the throttle output and displayed its reading to
OpenSpace3D's user interface [6]. At the same time, another
circuit with an Adafruit LCD screen Arduino shield was used
to appear the throttle data to the driver in real time allowing
for better driving and steering of the vehicle (Figs. 3, 4).

Fig. 5. The Toyota Yaris Hybrid vehicle that was available to students of the
EDRIVETOUR program at the University of Radom UTHR .

Fig. 3. Throttle circuit simulation with an Arduino Uno rev.3, an Adafruit

LCD screen and a potentiometer capable of interfacing with OpenSpace3D.

Fig. 6. Data collection process in which the hybrid vehicle is driven while a
computer is connected to the vehicle with the Bosch KTS 570 diagnostic tool.

A. The hybrid propulsion system

Since the vehicle is hybrid, an internal combustion engine
(ICE) also exists on board. Fig. 7 depicts the 3D model of the
Fig. 4. Throttle value that shows in real time the resistance of the
potentiometer as depicted in the user interface of our OpenSpace3D 1NZFXE propulsion system of the vehicle under test. It
application. consists of the ICE together with the electric motors of the

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

hybrid vehicle. The ICE is a first-generation gasoline engine the impact signal from the circuit breaker sensor or the airbag
with an economy narrow angle overhead camshaft, a hybrid assembly sensor triggers the system main relay to turn off thus
Atkinson combustion cycle along with multi point electronic preventing any further damage to the vehicle.
fuel injection capable of reaching a power output of 56 kW at
5,000 rpm and a torque output of 110 Nm at 4000 rpm with no B. The Battery charging system
power adder. The engine provides power to the vehicle as well
As was the case with the Tad-Pole Trike, the battery pack
as the generator that charges the battery pack of the hybrid
was also simulated in Tinkercad software as a 3D model and
vehicle and its usage is triggered by the vehicle computer.
exported as an STL file for its usage in the OpenSpace3D
It should be noted that this type of engine is actually used in
software (Fig. 8). The battery pack of the hybrid vehicle
the Toyota Prius, Prius C, Yaris, Corolla and Sienta models.
consists of a 12V lead-acid battery, which is located under the
It’s production started at 1997 with displacement at 1.5 L and
right rear side seat and powers all the low voltage devices of
standard compression pressure being at 9.0 kg/m2 with the
the car and is grounded to the metal chassis of the vehicle
total weight of the engine reaching 87kg and consuming 0.5
following most car design principles. The other battery pack
liters of 5W-30 oil per 1000km .
with total voltage of 144V is comprised of 20 Nickel Metal
Hydride (NiMH) batteries connected in series with each one
containing 7.2V and in total weighs 31 kg. It should be noted
that this battery pack is charged only from one three-phase AC
electric generator while it provides power back to the electric
motor and generator, the inverter or converter as well as the
A/C compressor of the hybrid.

Fig. 7. The 1NZFXE combined engine 3D design showing the characteristic

planetary gear of the power split device of the vehicle and in the front the two
alternating current synchronous motors. Fig. 8. 3D model (left to right) of the backup lead-acid 12v battery and the
lithium-ion battery consisting of 48 cells reaching the nominal voltage of
177.6 V and capacity of 4.3 amp/h.
Another important feature of the vehicle’s propulsion system
is the two three-phase 45 kW AC motors that are used
interchangeably mostly as a generator and motor, with the C. Measurements
motor providing power to the front wheels while the generator The measurements performed on the hybrid Toyota Yaris
powers the transaxle and battery pack of the hybrid. In that are depicted in Figs. 9 and 10.
way kinetic energy throughout deceleration of the vehicle’s In Fig. 9, the kinetic energy transformed into electric energy
front wheels is recovered and through regenerative braking to charge the battery during regenerative braking is examined.
charges the battery pack. Normally, the battery pack also Through the OBD tool readings, a maximum regenerative
charges through the planetary gear that is powered by the ICE braking torque of -191 Nm was observed. It is worth
of the vehicle, so charging is also achieved by accelerating the mentioning that after reaching this value of regenerative
hybrid making the Toyota Yaris a quite energy efficient braking torque, the rest of the braking energy produced is
driving option. absorbed by the brake pads of the vehicle as heat. Moreover, a
The system main relay which is responsible for connecting general observation was that whenever the break was pressed
and disconnecting the HV battery is another main important severely the battery recharged about 1 to 2 percent of the
feature of the vehicle worth mentioning. With the activation of overall state of charge.
the positive side of the contact relay by the ECU the relay is In Fig 10 the measurements collected during only electric
powered on. Then the negative side of the contactless relay mode of the vehicle are presented. In this mode, only the
which is located inside the inverter closes the loop through a electrical motor, powered by the battery, provides propulsion
resistor resulting in the negative side of the contact relay also to the vehicle. During driving of the vehicle around the
powering on. Thus, while this operation is taking place there is university campus a maximum motor speed 2851 rpm was
no chance of rush current producing dangerous sparks that recorded.
could in turn lead to a fire hazard for the vehicle. However,
that isn't the only use case of the system main relay since in D. Data collection
the chance of a side or front collision the ECU after registering All files and documents with measurements data created
during all laboratory experiments of the project are available

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

online in a Github repository [8].

The information and views set out in this document are
those of the authors and do not necessarily reflect the official
opinion of the European Union. Neither the European Union
institutions and bodies nor any person acting on their behalf
may be held responsible for the use which may be made of the
information contained therein.

REFERENCES
[1] Miromax Empowering Solutions, Available: https://www.miromax.lt/en/
[2] Erasmus Plus KA2 GA 612522-EPP-1-2019-1-EL-EPPKA2-KA “E-
DRIVETOUR: Beyond the border of electric vehicles: an advanced
Fig. 9. Graph showing the Charge Status Difference of the vehicle during interactive course” Available: https://www.EDRIVETOUR.eu/
deceleration and the regenerative brake torque of the vehicle (green) reaching [3] Autodesk Tinkercad, Available: https://www.tinkercad.com/
the -191 Nm. [4] V. Karidas and G. Kontozisis, Design and Construction of tricycle with
pedal assist. Diploma Thesis, Alexander TEI of Thessaloniki, Sept.
2013.
[5] OpenSpace3D – Open Source Platform for 3D Environments. Available:
https://www.openspace3d.com/ Accessed: 8/5/2022
[6] T. Anagnostaki, “EDRIVETOYR TS1.12 Intermediate Project –
OpenSpace3D Computer Lab notes” – Accessed: 21/09/2022
[7] Toyota UK Media Site – Toyota Yaris Hybrid Technical Specifications.
Available:
https://media.toyota.co.uk/wpcontent/uploads/sites/5/pdf/210713M-
Yaris-Tech-Spec.pdf
[8] Github Repository of EDRIVETOUR Intermediate Project. Available:
Fig. 10. Figure from the Esitronic program showing the vehicle utilizing its https://github.com/MariaMich/EDRIVETOUR-Intermediate-Project
electric drivetrain only and reaching -2851 rpm from its electric drive motor.

IV. ACKNOWLEDGEMENTS
All content presented in this paper has been created by the
authors and funded by the European Union under the
ERASMUS PLUS KA2 with GA 612522-EPP-1-2019-1-EL-
EPPKA2-KA project entitled “Beyond the border of electric
vehicles: an advanced interactive course” with acronym
EDRIVETOUR.

40
 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

Training on electric vehicle technology in an

Erasmus Plus project from student point of view
D.-A. Cîrciumariu 1, P. Adamidis1, G. Emmanouil1, M. Zomek3, C.-I. Colpacci1 and I.-C. Vaduvescu1
1
University of Craiova, 2 International Hellenic University, 3 University of Technology and
Humanities in Radom

This approach provided the students access to experts in

Abstract— Electric vehicles have long since faced a lot of their respective fields as well as an opportunity to witness how
obstacles when trying to enter the mainstream market due to a development is obtained in an industrial environment. The
variety of issues such as high price mainly due to expensive companies available for the students to perform their practical
batteries, low mileage, high charging time and scarce charging
stations. However, due to the advancements in technology, prices
training were located in Greece, Poland, Italy and Belgium.
gradually decrease and while electric vehicles still have more to Besides the courses and mobility periods, appropriate exams
go until they become mainstream, hybrid vehicles have achieved taken at the end of the teaching program would allow the
that status. This paper presents project E-DRIVETOUR that students to receive certification of the skills acquired from
aims to teach and pass the know-how in a multi-cultural setting their successful participation in E-DRIVETOUR program.
having taken place in different locations. The remaining of the document briefly presents the steps
taken and the tasks undertaken by the students in the frame of
Index Terms—Electric Vehicles, Battery Electric Vehicles,
Education, Training, Augmented Reality. the program.

II. ONLINE COURSES

I. INTRODUCTION The first part of the project consisted exclusively of online
courses on different subjects in this field. This was a big
T HE popularity of Hybrid electric vehicles (HEVs), plug-in
hybrid electric vehicles (PHEVs) and battery electric
vehicles (BEVs) is on the rise in recent times due to a
advantage as the students could experience a variety of
teaching styles not only from different educators but also from
multitude of factors such as the rise of gas prices and the different countries.
dangers of climate change becoming more and more The courses were interactive so the students could always
accentuated. As such the need for skilled engineers is on the ask a question where they needed to be explained again or
rise. Erasmus Plus KA2 project E-DRIVETOUR [1] aimed to expanded on a certain notion they felt necessary and
introduce and implement new learning techniques and professors had no problem doing so, on the contrary,
teaching methods through interactive laboratory equipment participation and asking question being encouraged at every
and an E-learning platform that enabled teaching from a course. At the end of each course or sometimes at the end of a
distance and remote access to measuring equipment. course chapter, the students were given quizzes or problems to
The project has been going on for 3 years and has 10 solve. They were given a time period to work on it on their
partners from 7 countries. It has been divided into multiple own and after that their answers were checked and the
parts, the first being the online courses where the students professors intervened where necessary to correct or to explain
were taught selected and up to date topics regarding the the answer. Besides these tests the students were also given
electric vehicle industry, ranging from embedded systems to homework projects or problems to solve. Thanks to this the
mechanical aspects of the vehicles. information retention was high.
Approaching the end of the program, the students also The courses were structured in a 3 hour format. This may
participated in three “mobility periods” consisting of hands-on seem like a lot of hour considering the students also had
laboratories in different countries. The first two locations were regular classes at their respective universities, but the
pre-selected for every student, Greece being the first and interactive and open nature of the course combined with
Poland being the second. The third mobility period was more regular breaks didn’t make it any different than a normal
special as students could choose from a few companies located course at the university. The breaks were also important as
in different countries. The students would perform their studies have shown that taking short breaks helps one’s brain
practical training, akin to an internship, where they could put learn new skills [2]. Another factor in helping of the retention
the theoretical knowledge they accumulated into practical of information was the schedule of the courses which included
skills. Each company specialized in a different field from a repetitive session of the previous/s session material at the
transforming an existing classic ICE vehicle into electrical one start of a course. Studies have shown that spaced out repeat
to manufacturing of battery packs. sessions of the same material improve long term retention of
the information [3].

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

III. MOBILITY PERIODS B. Second Mobility Period

A. First Mobility Period The second mobility period was held in Radom, Poland and
was targeted more towards hybrid vehicles, in the case of
The first mobility period was held in Thessaloniki, Greece
group F the Toyota Yaris 2020 [6]. The main focus was on the
and consisted of a more hands-on approach, mixing theoretical
understanding of the powertrain system. Therefore, a lot of
classes and practical examples. This is where students were
research need to be made on the car and on the different data
split in teams to complete the tasks. They were also assigned a
retrieved from the sensors. Car sensor data were taken through
vehicle to study, from delta trikes to scooters and karts, all of
the OBD port. Artificial errors have been created in order for
them electric. The vehicle assignment was done randomly and
the students to see how the system would report it.
team F ended up with the Delta trike depicted in Fig.1.
Additionally, a solution to a diagnostic error should have been
An interesting task given was the identification of system’s
proposed. All these tasks had to be presented at the end of the
components. This led to a block diagram of the delta trike
mobility period by the student team including the AR
which was the basis for identifying how the whole system
application.
works (Fig. 2).
Another interesting part of this mobility period was that the
IV. CONCLUSIONS
progress was presented by means of an AR (augmented
reality) application, OpenSpace3D [4], [5]. It was scanning a An overview for the interactive E-DRIVETOUR course was
QR code from a mobile phone and the application would show presented in this paper and some major points of the project
data about the vehicle’s parts in real time. Besides this were highlighted. The didactic potential of such an approach
functionality, OpenSpace3D software can also be connected to was quite high as no other such educational approaches on
a microcontroller such as Arduino to retrieve data from it. electric vehicle technology are available. The combination of
remote learning along with the mobility periods in different
countries can really be eye opening and offers a great insight
on how courses are taught in other countries.
Overall, this project can be considered an excellent
experience involving a blend of educational approaches that
certainly stimulated students interest.

V. ACKNOWLEDGEMENTS
All content presented in this paper has been created by the
authors and funded by the European Union under the
ERASMUS PLUS KA2 with GA 612522-EPP-1-2019-1-EL-
EPPKA2-KA project entitled “Beyond the border of electric
vehicles: an advanced interactive course” with acronym
EDRIVETOUR. The information and views set out in this
document are those of the authors and do not necessarily
Fig. 1. Delta trike reflect the official opinion of the European Union. Neither the
European Union institutions and bodies nor any person acting
on their behalf may be held responsible for the use which may
be made of the information contained therein .

REFERENCES
[1] Erasmus Plus KA2 GA 612522-EPP-1-2019-1-EL-EPPKA2-KA “E-
DRIVETOUR: Beyond the border of electric vehicles: an advanced
interactive course” Available: https://www.EDRIVETOUR.eu/
[2] Buch et al., Consolidation of human skill linked to waking hippocampo-
neocortical replay, Cell Reports, June 8, 2021.
Fig. 2. Bloc diagram of the system
[3] Gerbier, Emilie, Thomas C. Toppino, and Olivier Koenig. "Optimising
retention through multiple study opportunities over days: The benefit of
OpenSpace3D was used to read data from a simple rain an expanding schedule of repetitions." Memory 23.6 (2015): 943-954.
detector in real time through an Arduino board. Finally, the [4] OpenSpace3D – Open Source Platform for 3D Environments. Available:
https://www.openspace3d.com/ Accessed: 8/5/2022
AR software was utilized to present the electric, delta trike. [5] T. Anagnostaki, “EDRIVETOUR TS1.12 Intermediate Project –
At the end of the mobility period, an “electric” race among OpenSpace3D Computer Lab notes” – Accessed: 21/09/2022
students was organised. They were competed driving the [6] S. A. Rogers, “Evaluation of 2004 Toyota Prius Hybrid Electric Drive
System,” Oak Ridge National Laboratory, May 2005.
electric vehicles they studied and had to complete a series of https://edrivetour.ea.consulting/pluginfile.php/1010/mod_resource/conte
tasks. This experience was considered very important for the nt/3/Toyota%20HEV%20Prius%202004%20Raport%20US.pdf
overall mobility period as it was an amusing way to teach the
behavior of various small scale electric vehicles on the road.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

E-DRIVETOUR: A step towards the future of

electric mobility
A. Pavel2, M. Barcikowski3, G. Diamantis1, A.-E. Georgiadou1, K. Gkakidis1, and S. Radu2
1
International Hellenic University, 2 University of Craiova, 3 University of Technology and
Humanities in Radom

it was no longer operational.

Abstract—This paper focuses on electric mobility as the fleet of The last part of the project was to create a 3D model of the
electric vehicles is increasingly higher all around the world. delta trike and its components by means of the OpenSpace3D
Thermal engine vehicles will slowly be replaced by electric vehicles software [3], [4]. The 3D model would the basis of a
as they are friendlier to the environment because they emit fewer
greenhouse gases and air pollutants than their predecessors,
smartphone application developed in order to allow 3D
considering their production and electricity generation to keep representation of the delta trike and its components and provide
them running. E-DRIVETOUR is an Erasmus+ KA2 programme information such as technical datasheet or where the various
that aims to increase awareness of electric vehicles by teaching and components could be bought from by just scanning barcodes.
training students, future engineers, through online courses, The main components of the delta trike were:
laboratories and practical training on site. During the timeframe
• Two in wheel brushless DC motors
of the programme, students had to complete two projects, that will
be presented in this paper. • Arduino Mega2560
• Batteries
Index Terms— E-DRIVETOUR, electric mobility (e-mobility), • Inclinometer
electric vehicles, project based learning • Throttle potentiometer
After carefully examining all the components, the team
started investigating the problems that caused the delta trike to
I. INTRODUCTION malfunction by checking the functionality of the components.

T HE E-DRIVETOUR Erasmus+ KA2 programme [1] aimed

at introducing undergraduate students of three Universities
to the electric vehicle technology [2]. It was consisted of
The first problem encountered was burned fuse and a relay that
was not switching so the delta trike was not receiving power
from the batteries. Replacing the damaged components made
theoretical lectures on appropriately selected topics on electric the delta trike power on but only one motor was working, so we
vehicle technology, laboratory courses taken place at the started checking the wiring and every component related to the
premises of the International Hellenic University and the second motor that was not working.
University of Technology and Humanities in Radom, practical The problem with the second motor was a defective transistor
training and two medium scale projects. The projects were on the electric circuit of the motor (Fig. 2). The transistor was
entitled as “Intermediate project 1” and “Intermediate project about to be replaced in order to make the electric tricycle fully
2” and the students had to work on them in international groups. functional.
Their content and purpose are presented in the following
sections of the paper.

II. INTERMEDIATE PROJECT 1

The purpose of the first project the students had to work on
was the familiarization with the components and working
principle of an electric, delta type tricycle (Fig. 1). The work
should have been performed in steps in order to reach the point
of actually assembling the initially partly disassembled trike.
The first step in completing the project was identifying all
the components of the delta trike and perform some research on
them. This was necessary step to determine the working
principle of the delta trike.
After finding all the components and determining how the
delta trike operates, the team had to try to make it functional as Fig. 1. The electric, delta trike used for the intermediate project 1.

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 7th International Workshop on Microsystems
Alexander Campus, International Hellenic University, Thessaloniki, Wednesday 14 December 2022

barcodes or QR codes, push buttons were selected in order to

display the 3D model with some technical information as well
as an informational video. The initial screen of the application
with the 3D model of the vehicle is depicted in Fig. 4.

Fig. 2. Picture with defective transistor found inside the wheel motor. Fig. 4. Initial screen of the application developed in OpenSpace 3D software.

At that point, the work of student team regarding the delta IV. CONCLUSION
assembly was completed. The mobile phone application had The objective of the two intermediate projects has been
also been developed. achieved as the students have learned how an electric trike and
a hybrid electric car work in general as well as about the
III. INTERMEDIATE PROJECT 2 operation of individual electric vehicle components. The
The second project the student team had work on was a scale experience gained out of these projects was not only theoretical
up of the first one since the same results should have been but also technical as the students had the opportunity to work
accomplished for a Toyota Prius hybrid electric vehicle [5]. on real life electric vehicles, disassemble and measure various
As a hybrid electric vehicle is much more complex than an parts of the electric vehicles used. The onsite laboratories and
electric trike, the students had to focus on its main components: online courses done prior to or during the time frame of the
• Internal combustion engine projects have significantly assisted the overall learning process.
• Electric motor
• Generator V. ACKNOWLEDGEMENTS
• Inverter All content presented in this paper has been created by the
• Battery pack authors and funded by the European Union under the
• Power split device ERASMUS PLUS KA2 with GA 612522-EPP-1-2019-1-EL-
The components mentioned above are part of the powertrain EPPKA2-KA project entitled “Beyond the border of electric
of Toyota Prius (Fig. 3). vehicles: an advanced interactive course” with acronym
EDRIVETOUR. The information and views set out in this
document are those of the authors and do not necessarily reflect
the official opinion of the European Union. Neither the
European Union institutions and bodies nor any person acting
on their behalf may be held responsible for the use which may
be made of the information contained therein .

REFERENCES
[1] Erasmus Plus KA2 GA 612522-EPP-1-2019-1-EL-EPPKA2-KA “E-
DRIVETOUR: Beyond the border of electric vehicles: an advanced
interactive course” Available: https://www.EDRIVETOUR.eu/
[2] Sanguesa, J.A.; Torres-Sanz, V.; Garrido, P.; Martinez, F.J.; Marquez-
Barja, J.M. A Review on Electric Vehicles: Technologies and
Fig. 3. Example of power train Toyota Prius hybrid Challenges. Smart-Cities 2021, 4,372-404.
https://doi.org/10.3390/smartcities4010022
[3] OpenSpace3D – Open Source Platform for 3D Environments. Available:
As in Intermediate Project 1, investigation on the main https://www.openspace3d.com/ Accessed: 8/5/2022
powertrain components was made, especially about their [4] T. Anagnostaki, “EDRIVETOUR TS1.12 Intermediate Project –
location on the vehicle and operation. OpenSpace 3D software OpenSpace3D Computer Lab notes” – Accessed: 21/09/2022.
[5] S. A. Rogers, “Evaluation of 2004 Toyota Prius Hybrid Electric Drive
was also used to present the corresponding 3D model of the System,” Oak Ridge National Laboratory, May 2005.
vehicle and of all the components of the powertrain. Instead of https://edrivetour.ea.consulting/pluginfile.php/1010/mod_resource/conte
nt/3/Toyota%20HEV%20Prius%202004%20Raport%20US.pdf

44