Publications by authors named "Haitham El-Hussieny"
Article Synopsis
- The paper discusses the creation and control of a vine-inspired robotic model using the Euler-Lagrangian method, focusing on its ability to grow and maneuver in complex settings.
- It derives dynamic equations for the robot's movement and implements model predictive control to fine-tune its position, orientation, and forces during tasks.
- Simulation results show high precision in positioning (sub-millimeter accuracy) and force control (sub-micron force adjustments), validating the effectiveness of the model and control approach.
Article Synopsis
- Recent advancements highlight potential applications of electromagnetic launchers for defense, space exploration, and transportation, particularly in deploying satellites and enhancing high-speed rail systems.
- This paper proposes a novel design featuring a laminated iron yoke that significantly improves the inductance and efficiency of magnetic accelerators, achieving a 17.5% efficiency gain over traditional models.
- An artificial intelligence optimization technique, the gravitational search algorithm, further increases system efficiency by an additional 15%, resulting in a total efficiency of 20%.
Article Synopsis
- * The model was integrated into a Model Predictive Control (MPC) framework, allowing for accurate path following without relying on traditional dynamic models, while also ensuring safety constraints were met.
- * Our experiments showed that deep learning significantly enhances robotic control, outperforming traditional methods, and suggests promising future research opportunities in applying deep learning to robotic systems.
Deep CNN-Based Static Modeling of Soft Robots Utilizing Absolute Nodal Coordinate Formulation.
Biomimetics (Basel)
December 2023
Article Synopsis
- Soft continuum robots, inspired by flexible organisms like octopuses, require precise modeling and control for effective motion and manipulation.
- This study introduces a new approach using Deep Convolutional Neural Networks (CNN) within the Absolute Nodal Coordinate Formulation (ANCF) to improve the modeling of these robots' complex behaviors.
- Extensive experiments validate the CNN models for real-time simulation and control, showcasing the advantages of combining Deep CNN with ANCF for advancing soft continuum robotics.
Recent Developments of Actuation Mechanisms for Continuum Robots: A Review.
Int J Control Autom Syst
May 2023
Traditional rigid robots face significant challenges in congested and tight environments, including bulky size, maneuverability, and safety limitations. Thus, soft continuum robots, inspired by the incredible capabilities of biological appendages such as octopus arms, starfish, and worms, have shown promising performance in complex environments due to their compliance, adaptability, and safety. Different actuation techniques are implemented in soft continuum robots to achieve a smoothly bending backbone, including cable-driven actuators, pneumatic actuators, and hydraulic actuation systems.
View Article and Find Full Text PDFAn excellent path planning algorithm of a robot should compromise three major criteria; low computational time, high level of smoothness and optimal length. In this work, a hybrid algorithm is developed to enable the robot to navigate smoothly in a partially known environment with a low computation time. The proposed method takes as input a global path connecting a start and a target point, then an initial optimal smoothed path is generated which is accordingly updated due to unexpected changes in the workspace.
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