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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Bilal Ali Raza Mohsin Rizwan Muhammad Ahsan Hafiz Farhan Maqbool Syed Abbas Zilqurnain Naqvi Al-Khawarizmi Institute of Computer Science UET1 Lahore HCR2 Lab National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering UET Lahore Lahore Pakistan

The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.

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An Improved Quadratic V/f-Based Control of Photovoltaic Battery-Less Induction Motor Driven Water Pumping System

An Improved Quadratic V/f-Based Control of Photovoltaic Batt...

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International Conference on Sustainable Energy engineering and Application (ICSEEA)

作者： Neama Yussif Ayman S. Abdel-Khalik Abdelfatah M. Mohamed Dept. of Energy resources Engineering Egypt-Japan University of Science and Technology Alexanria Egypt Dept. of Electrical Engineering Alexandria University Alexandria Egypt Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Egypt

This paper proposes a new quadratic V/f-based control of a PV induction motor driven water pumping system without storage batteries. The system consists of PV array, DC-DC boost converter, voltage source inverter (VSI), induction motor, and water pump. In order to extract the maximum power from the PV array, the incremental conductance (INC) method is simply utilized. The dc-link voltage is maintained constant using a proportional-integral (PI) controller by controlling the induction motor speed using simple open loop quadratic scalar V/f control. The proposed quadratic scalar V/f control is compared with the widely used linear V/f control using a simulation case study based on MATLAB/SIMULINK . The performance of the proposed method is examined under variable values of solar radiation. When compared with the available scalar controllers, the proposed controller generally improves the system dynamics as well as the overall system efficiency especially under low speed (low discharge) operation. The simulation results have proved that the system output power and the corresponding overall efficiency have been approximately doubled under low speed operation.

关键词： Induction motors Solar radiation Voltage control Batteries Simulation Stators Control systems

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New 3D translational interconnected manipulator for industrial applications 15

New 3D translational interconnected manipulator for industri...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Sameh, Ahmed Fanni, Mohamed Mohamed, Abdelfatah M. Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Production Engineering Dept. Faculty of Engineering Mansoura University Mansoura Egypt Electrical Engineering Department Faculty of Engineering Assiut University Egypt

ISBN: (纸本)9781538660720

A new interconnected manipulator whose end-effector can carry out 3 translational motions in the 3D space with constant orientation is presented in this paper. It is the only interconnected manipulator in the world that produces such motion, which is needed for many industrial applications, using solely rotary actuators and joints. Practically, rotary actuators and joints are preferable than linear actuators and joints because of their cheaper cost, smaller installation size and better reliability. The unconventional interconnected structure of the proposed manipulator enables it to possess, to some extent, the combined advantages of serial and parallel manipulators such as light weight, high speed, rigidity and accuracy as well as large workspace to size ratio. The mechanism description, mobility analysis, kinematic analysis and workspace analysis are presented in details. Finally, an accurate simulation using ***© software is carried out to demonstrate the feasibility of the proposed manipulator's design. © 2018 IEEE.

关键词： Kinematics

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Corrigendum to “Micromechanical modeling and experimental verification of self-healing microcapsules-based composites”, [Mechanics of Materials, 131 (2019) 84–92]

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Mechanics of Materials 2019年 137卷

作者： Abdalla Ahmed Kazuaki Sanada Mohamed Fanni Ahmed Abd El-Moneim Dept. of Mechanical Engineering Faculty of Engineering at Benha Benha University Qalyubia 13512 Egypt Dept. of Mechanical Systems Engineering Toyama Prefectural University Toyama 939-0398 Japan Dept. of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria 21934 Egypt Dept. of Materials Science and Engineering Egypt-Japan University of Science and Technology Alexandria 21934 Egypt

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Computing path bundles in bipartite networks 7

Computing path bundles in bipartite networks

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7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications, SIMULTECH 2017

作者： Parque, Victor Miura, Satoshi Miyashita, Tomoyuki Dept. of Modern Mechanical Engineering Waseda University 3-4-1 Okubo Shinjuku-ku Tokyo Japan Dept. of Mechatronics and Robotics Egypt-Japan University of Science and Technology Borg-Al-Arab-Alexandria Egypt

ISBN: (纸本)9789897582653

Path bundling, a class of path planning problem, consists of compounding multiple routes to minimize a global distance metric. Naturally, a tree-like structure is obtained as a result wherein roots play the role of coordinating the joint transport of information, goods, and people. In this paper we tackle the path bundling problem in bipartite networks by using gradient-free optimization and a convex representation. Then, by using 7,500 computational experiments in diverse scenarios with and without obstacles, implying 7.5 billion shortest path computations, show the feasibility and efficiency of the mesh adaptive search. © Copyright 2017 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved.

关键词： Motion planning

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Thin coatings for pumping station mechanical components

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IOP Conference Series: Materials Science and engineering 2019年第1期591卷

作者： C Cirlan Paleu V Paleu B Istrate N Cimpoesu C Munteanu 'Gheorghe Asachi' Technical University of Iasi Mechanical Engineering Faculty Mechanical Engineering Mechatronics and Robotics Department 63 D. Mangeron Blvd. 700050 Iasi Romania 'Gheorghe Asachi' Technical University of Iasi Faculty of Material Science and Engineering Dept. of Materials Science 67 D. Mangeron Blvd. 700050 Iasi Romania

The pumping stations are key points of water treatment plants, their performance directly affecting the serviceability of the entire water treatment system. The excessive wear of mechanical components conducts to pumping station out of service state. The deposition of thin coatings on the elements subjected to wear can generally extend the operating time of the water treatment plants. The paper analyses the failure modes of the mechanical components of the pumping stations and the existing efficient solutions for thin coating deposition to protect them from excessive wear. Consequently, an effective coating is deposited on the raw metal by Atmospheric Plasma Spraying (APS) and tribological tests are developed for an initial assessment of the anti-wear properties of the coating. The worn contact surfaces are analysed by Scanning Electron Microscopy (SEM) and the chemical composition is established by Energy-dispersive X-ray spectroscopy (EDS). The tests are still in development, revealing that the main failure modes of the coating are abrasive wear and delamination. Future research will be conducted to identify the best combination of powders for a multiple layer deposited coating with high wear resistance.

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Hybrid sliding mode fuzzy logic-based PI controller design and implementation of shape memory alloy actuator

Hybrid sliding mode fuzzy logic-based PI controller design a...

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International Conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Y. M. Alsayed A. A. Abouelsoud A. M. R. Fath El Bab Mechatronics and Robotics Engineering Dept. Egypt-Japan University of Science and Technology (E-JUST) Borg Elarab Alexandria Egypt Mechatronics and Robotics Engineering Dept. Egypt-Japan University of Science and Technology (E-JUST) Alexandria Egypt

ISBN: (纸本)9781467388191

In this paper, a new implementation method is proposed for shape memory alloy (SMA) model which is used to design and control SMA based linear actuator. This implementation method is based on strain-driven approach rather than stress-driven approach found in the literature. This approach removes problems associated with model implementation of SMA actuator such as algebraic loop, coupling between constitutive model and dynamic model of SMA and differentiation of algebraic constitutive equations which leads to loss of controllability. A dynamic system that describe the characteristics of one-way bias force based SMA actuator is simulated using this implementation approach. The simulation results show the accuracy of the proposed controller in both of step change and reference tracking and overcomes the disadvantages of overshooting and steady state error of controllers presented previously, in addition achieve fast response during heating and cooling. Moreover, The advantages of the proposed approaches are: simplified implementation method and high accuracy of position tracking. Next, the hybrid sliding mode fuzzy logic PI controller is proposed to removes the problems of overshooting and steady state error in reference tracking and step changes, and achieve fast response during heating and cooling, which are very important in applications such as robotics.

关键词： Actuators Stress Mathematical model Heating Cooling Strain Robots

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Road Traversability analysis using network properties of roadmaps

Road Traversability analysis using network properties of roa...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Muhammad Mudassir Khan Haider Ali Karsten Berns Abubakr Muhammad Dept. of Electrical Engineering LUMS Pakistan Robotics and Mechatronics Center German Aerospace Center (DLR) Germany Dept. of Computer Science TU Kaiserslautern Germany

ISBN: (纸本)9781509037636

Traversability analysis is an important aspect of autonomous navigation in robotics. In this paper, we relate the idea of traversability to safety and ease of road usage by defining a novel sensor-data driven metric called Road Traversability Index (RTI). The RTI translate the geometric interaction of vehicle with road into a distance modulated index that can be used as advice for a human driver or an autonomous agent intending to traverse a particular road segment using a specific vehicle. We present a framework in which 3D sensor data is converted into a road model, which in turn is converted into a roadmap based motion planning graph to represent the underlying configuration space. The RTI is defined as a function of the roadmap by axiomatically satisfying all required properties of road traversability. We have tested our algorithmic framework on simulated scenarios to explore safety;and real-world data sets to discover aspects of traversability for vehicles of various types. Experimental results show that RTI is a practical tool that reveals information that may be hidden to human inspection or other methods of assessment that do not explicitly model a vehicle.

关键词： Roads Three-dimensional displays Indexes Space vehicles Robot sensing systems Solid modeling

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Design of a novel hybrid exoskeleton for mass handling

Design of a novel hybrid exoskeleton for mass handling

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Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)

作者： B. M. Sayed Mohamed Fanni Abdelfatah M. Mohamed Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Mechanical Engineering Dept. Mansoura University Mansoura Egypt Electrical Engineering Department Assiut University Egypt

Legged locomotion become the first choice of transportation of the human while carrying the loads in all types of terrain, but their speed are still limited with the human walking speed. This paper proposes the design of a novel Hybrid Exoskeleton for Mass Handling (HEMH), which consists of a lower extremity exoskeleton carrying two serial manipulator attached to the human arms (RRR). Whereas, the end effector movement is (RP). HEMH has two motorized wheels and has two free wheels installed under its feet for traveling from site to other. These manipulators are designed for special use in National Institute for Standard-Egypt (NIS). The HEMH has five Degrees of Freedom (DOF) per leg; two DOF for the hip joint, one DOF for the knee joint and two DOF for the ankle joint. It has two actuators per leg for motion in the sagittal plane and two motors for each serial manipulator. These arms are used for facilitating the weighing process. The mechanical parts of the system are designed using Titanium alloys (CP-Ti (UNS R50700)) to minimize the weight of the system. The proposed design is examined under the maximum loads by using COSMOS software to check its feasibility in different modes of motion.

关键词： Exoskeletons Legged locomotion Calibration Manipulators Wheels Foot Standards

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Dynamic modeling and robust motion control of a 2D compliant pantograph for micromanipulation

Dynamic modeling and robust motion control of a 2D compliant...

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International Conference on Control, Automation and robotics (ICCAR)

作者： Abdullah T. Elgammal Mohamed Fanni Manar Lashin Abdelfatah M. Mohamed Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Mechanical Engineering Dept. Mansoura University Mansoura Egypt Electrical Engineering Department Assiut University Egypt

This paper investigates the dynamic modeling and robust motion controller for a compliant pantograph manipulator with/without guiding mechanism. The pseudo-rigid-body model is used to allow flexible elements to be modeled as rigid body mechanism. Afterward Euler-Lagrange formulation method is used to get the dynamic model of the compliant mechanism. The proposed controller consists of two loops, internal and external loops. The robust internal loop compensator strategy guarantees a robust stability and performance in the presence of uncertainty and external disturbances. On the other hand, the external loop is designed to meet the performance criterion. Simulation results are based on Co-simulation between MS-ADAMS and MATLAB. The nonlinear model is exported from MS-ADAMS to capture the dynamics of the manipulator while MATLAB is used to implement the controller algorithm. A disturbance input force is applied to the control input to test the robustness of the controller. The whole results show the efficiency of the proposed controller in tracking desired trajectory accurately to be used in micromanipulation.

关键词： Mathematical model Dynamics Robustness Manufacturing processes Potential energy Manipulator dynamics

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