Publications by authors named "Mohamed Fanni"
The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of such systems are quite challenging because they are naturally unstable, have very fast dynamics, have strong nonlinearities, are very susceptible to parameters variations due to carrying a payload besides the external disturbances, and have complex inverse kinematics.
View Article and Find Full Text PDFArticle Synopsis
- This study presents a method for detecting insect larvae using a stereo camera and deep learning, which can help farmers identify pests at early developmental stages, leading to better pest management.
- The research utilizes advanced machine vision technology and deep learning algorithms on a custom dataset to improve pest detection accuracy while balancing smooth robot operation and precise localization.
- Simulation results using CoppeliaSim and MATLAB/SIMULINK demonstrate the effectiveness of the system, achieving 99% classification accuracy and a 0.84 average precision for pest localization.
The large number of interdigitated electrodes (IDEs) in a macro fiber composite (MFC) piezoelectric actuator dictates using a very fine finite element (FE) mesh that requires extremely large computational costs, especially with a large number of actuators. The situation becomes infeasible if repeated finite element simulations are required, as in control tasks. In this paper, an efficient technique is proposed for modeling MFC using a finite element method.
View Article and Find Full Text PDFThe experimental validation of a new quadrotor-manipulator is tackled in this paper. In this system, a two-DOF robotic arm is attached to the bottom center of a quadcopter. The arm is designed with a certain topology such that its end-effector can follow a six-DOF desired trajectory which makes our proposed system superior over the others.
View Article and Find Full Text PDFArticle Synopsis
- The article introduces a new endoscopic parallel manipulator designed for minimally invasive surgery, featuring 3 degrees of freedom (2 rotational and 1 translational).
- It has a unique joint arrangement that allows for large bending angles and minimizes interior singularities, giving it advantages over existing surgical manipulators, but also complicates analysis.
- The authors use a combination of geometrical/analytical methods, ADAMS software for virtual prototyping, and conduct experiments to validate the manipulator's performance in a teleoperated surgical system.