Abdelfatah M. Mohamed

Abdelfatah M. Mohamed Information

University

Egypt-Japan University of Science and Technology

Position

Assiut University and

Citations(all)

1256

Citations(since 2020)

613

Cited By

880

hIndex(all)

17

hIndex(since 2020)

13

i10Index(all)

33

i10Index(since 2020)

18

Email

University Profile Page

Egypt-Japan University of Science and Technology

Abdelfatah M. Mohamed Skills & Research Interests

Robust and Intelligent Control

Magnetic Bearings

Robotics

Top articles of Abdelfatah M. Mohamed

A Delphi Consensus to Prioritize the Next Steps to Address Racial Disparities Through Critical Care Research

Introduction Disparities in critical care remain poorly understood, making them difficult to address. Documenting these disparities through research should be prioritized, and their extent, impact and potential causes should also be a focus for future research. We aimed to develop a thought leader consensus with recommendations for future critical care medicine (CCM) research trajectory to document, assess and understand potential disparities that have not been well understood. Methods We used a modified Delphi method to find consensus on recommendations for addressing racial disparities in future critical care research. The steps consisted of a preparation phase, a pre-meeting survey, a roundtable meeting, and a post-meeting survey. Nine thought leaders on racial disparities with expertise in critical care clinical practice or health disparities research in the US were invited to the roundtable meeting. Prior to …

Authors

A Mohamed,D Adegunsoye,M Armstrong-Hough,N Ferguson-Myrthil,I Hassan,F Mayr,TS Valley,DR Winkfield,J-TT Chen

Published Date

2024/5

Bilateral control of a 2-dof teleoperated manipulator using udp scheme

This paper presents the design and development of a control scheme, for a robot master–slave teleoperation system man–machine interface. The developed system consists of JUPITER XL SCARA robot as a slave manipulator with only the first two links activated, a wireless User Datagram Protocol (UDP) network, and PC as a master controller. The system model parameters identified using the Least-Squares method. A workspace-control system was developed to deals with the problem of position-tracking of bilateral teleoperated two degrees of freedom manipulator, and aid the human operator in driving and controlling the slave robot that performs critical and difficult tasks such as underwater works. A Proportional-Integral-Derivative (PID) and Fuzzy Logic Control (FLC) controllers with different input signals were applied to the system. It was proved experimentally and by simulation on Matlab that the FLC gave a …

Authors

Magdi Mohsen,Abdelfatah M Mohamed,SM Ahmed,Khalil Ibrahim

Journal

Ain Shams Engineering Journal

Published Date

2023/9/1

Imbalance compensation of active magnetic bearing systems using model predictive control based on linear parameter-varying models

Active magnetic bearing (AMB) is a suspension system to levitate a rotating shaft freely without any physical contact which allows extremely fast rotation speeds. One big control challenge of the AMB systems, which appears during high rotation speeds, is the non-uniform distribution of the rotor weight about its rotating axis. This is usually referred to as the rotor imbalance problem which produces sinusoidal disturbance forces. These disturbances lead to undesirable vibrations and large deviations of the rotor shaft from its desired trajectories. We adopt in this work model predictive control (MPC) to reduce the effect of these sinusoidal disturbances and to achieve a stable levitation of the rotor shaft while tracking a reference trajectory. Owing to the MPC capability of handling constraints in an optimal manner, physical input constraints can be committed. Moreover, state constraints can be imposed to ensure safety of …

Authors

Abdelrahman Morsi,Hossam S Abbas,Sabah M Ahmed,Abdelfatah M Mohamed

Journal

Journal of Vibration and Control

Published Date

2022/5/27

Hybrid Impedance Control-based Autonomous Robotic System for Natural-like Drinking Assistance for Disabled Persons

Drinking is an essential activity of daily living (ADL) that is frequently required for a healthy life. Disabled persons however need recurrent assistance from the caregivers to perform such ADL. The existing assistive robots that have been developed to assist in performing ADL require either manual or shared control. There is therefore need for completely autonomous systems that can deal with the existing system limitations. In this paper, a hybrid impedance control-based autonomous robotic system for natural-like drinking assistance for disabled persons is developed. The system comprises of a UR-10 manipulator and a Kinect RGB-D sensor for online detection of the face and mouth along with tracking head pose, cup region of interest recognition and detection of the drink level. A two-stage control strategy is employed; namely, a free-space control to convey an upright oriented cup of drink to the user’s mouth and …

Authors

Amos Alwala,Haitham El-Hussieny,Abdelfatah Mohamed,Kiyotaka Iwasaki,Samy FM Assal

Journal

International Journal of Control, Automation and Systems

Published Date

2023/6

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

It is well recognized that biarticular muscles cross over two joints instead of just one, granting them the ability to generate substantial forces across both joints. This type of muscle plays a crucial role in human movement, since it produces large forces. In literature, there have been numerous designs of mono-and biarticular actuations applied for a two-or three-link robotic leg, aimed at studying human locomotion. A novel biarticular actuation configuration for a two-link compliant robotic leg is proposed in this research. It features mono-articular rotational actuation for the proximal link and biarticular linear actuation for the distal link. The distal link is actuated by a linear Series Elastic Actuator (SEA) that is suitable for compliant ground interaction, while the proximal link is driven by a stiff rotary actuator. This biarticular actuation is bio-inspired by the biarticular muscles in humans, especially the hamstring muscle, which span two joints instead of one to provide high torque at both joints. This new configuration for the two-link robotic leg realizes the Spring-loaded Inverted Pendulum (SLIP) dynamics, making human locomotion during the compliant ground interaction simpler. In the biarticular coordinates, complete kinematic and dynamic analyses are developed for this new configuration. The approach also involves using a rotating task space to represent the swing and stance phases of human gait. The dynamic model is transformed into this rotating task space and a hybrid impedance and position controller is developed with optimized gains to minimize the tracking errors and prevent any disturbance. A disturbance observer controller is developed and …

Authors

Abdelfatah Mohamed,Shinjiro Umezu,Samy FM Assal

Published Date

2023/4/3

A new battery selection system and charging control of a movable solar-powered charging station for endless flying killing drones

This paper provides a design, a charging control, and energy management of a movable Photo Voltaic (PV) charging station with an Automatic Battery Replacement (ABR) system to enable drones for ongoing missions. The paper represents the first stage of a three-staged project titled Fall Armyworm (FAW) insect killer. The other two stages involve the flight control of drones and detecting and killing FAW insects. Without chemical methods, the project aims to eliminate harmful FAW insects that are rapidly spreading in Africa and Asia. The power source is a hybrid PV system with energy storage devices (batteries and supercapacitors). The maximum power from PV panels is tracked using three different online methods (PSO, IC, and P&O), and the best method with the highest accuracy is selected. The experimental and simulation results approved that PSO is the recommended method used in this project among the studied methods because of its high target reach (about 97%) and low steady-state oscillation (maximum 2.15%). An intelligent energy management system is investigated and designed to efficiently utilize solar power with a constant-current constant-voltage charger for LiPo batteries. A new Battery Selection System (BSS) is designed and verified to efficiently utilize the harvested energy and increase the mission time. The BSS targets to manage the selection of the appropriate battery to charge and control its charging rate. The system performance is tested using MATLAB software. Then, an experimental setup for the system is built to validate simulation results. The results of simulations and experiments proved the reliability of BSS in …

Authors

Essam Ali,Mohamed Fanni,Abdelfatah M Mohamed

Journal

Sustainability

Published Date

2022/2/11

Design and hybrid impedance control of a compliant and balanced wrist rehabilitation device

Wrist rehabilitation robotic devices have delivered the repetitive and gradual training necessary to rehabilitate individuals with wrist impairments properly. Generally, there are two approaches for the design of the wrist rehabilitation devices. In one approach, the motors are placed on the forearm with complex transmission mechanisms to reduce the weight and inertia. In the other approach, rotary motors are placed close to the wrist joints with simple design, and this leads to high weight and inertia. In this paper, a simple design of two-degrees of freedom compliant and balanced wrist rehabilitation device is proposed. It can provide the radial-ulnar deviation and flexion-extension rehabilitation motions. In the proposed design, the servomotors that are placed close to the wrist joints are counterweight balanced to reduce the inertia and the required torques. The balancing is carried out by optimizing the center of mass of …

Authors

Mwayi E Yellewa,Abdelfatah Mohamed,Hiroyuki Ishii,Samy FM Assal

Published Date

2022/10/17

Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System

Post stroke patients may suffer from a gait disorder which is called foot drop. They may experience a toedrag, slow walking speed and a high risk of tripping. Although physical therapy exercises can be a remedy to such cases, their high cost and the lack of professional caregivers arise the need for robotic rehabilitation systems. On the other hand, the existing robotic systems for foot-drop rehabilitation are heavy and bulky. Therefore, in this paper, a lightweight foot-drop rehabilitation system based on a wire-driven redundant spherical parallel manipulator (RSPM) is developed. The proposed RSPM can provide 3-DOF movements to exercise the dorsiflexion, plantarflexion, supination, lateral and medial rotations. Kinematic and static analyses are performed for the proposed rob RSPM. In order to guarantee permissible positive tensions for the wires of the RSPM, a new performance index is introduced, called …

Authors

Ahmed Gamal,Abdelfatah Mohamed,Hiroyasu Iwata,Samy FM Assal

Published Date

2022/10/17

Modeling and Flight Control of Small UAV with Active Morphing Wings

In recent research works, morphing wings were studied as an interesting field for a small unmanned aerial vehicle (UAV). The previous studies either focused on selecting suitable material for the morphing wings or performing experimental tests on UAVs with morphing wings. Though, the dynamic modeling of active flexible morphing wings and their involved interactions with the aerodynamics of the UAV body are challenging subjects. Using such a model to control a small UAV to perform specific maneuvering is not investigated yet. The dynamic model of UAV with active morphing wings generates a multi-input multi-output (MIMO) system which rises the difficulty of the control system design. In this paper, the aeroelastic dynamic model of morphing wing activated by piezocomposite actuators is established using the finite element method and modal decomposition technique. Then, the dynamic model of the UAV is …

Authors

Diaa Emad,Abdelfatah Mohamed,Mohamed Fanni

Journal

Journal of Intelligent & Robotic Systems

Published Date

2022/10

Modeling and Hybrid Compliant Control for a 2-DOF Robotic Leg With a New Biarticular Actuation

It is well-known that, biarticular muscles are those that cross two joints rather than one to generate high torque at both joints. Such muscles play an essential role in human locomotion since they provide large forces. Different mono- and bi-articular actuations for a two- or three-link robotic leg have been developed in literature to study the human locomotion. In this paper, a new bio-inspired biarticular actuation configuration with mono articular rotary actuation for the proximal link and biarticular linear actuation for the distal link is proposed for a two-link robotic leg. Since the spring loaded inverted pendulum (SLIP) simplifies the human locomotion, the new proposed configuration is developed to realize the SLIP behavior during ground interaction and to show robustness against any impact from the environment. Full kinematic and dynamic analyses for the new configuration are developed in the biarticular coordinates …

Authors

Abdonoor Kalibala,Abdelfatah Mohamed,Shinjiro Umezu,Samy FM Assal

Published Date

2022/7/27

On the development of autonomous assistive robotic system for drinking task for people with disability

Activities of Daily Living (ADLs), especially activities around the head such as drinking, feeding, shaving and oral care, are of great importance for an independent quality of life. Assistive robots for ADLs are developed to perform tasks that the disabled person would require frequent need for a caregiver. These assistive robotic systems are either manually controlled or controlled via a shared control scheme, thus are not fully autonomous. This paper proposes an autonomous assistive robotic system to perform drinking task for disabled people. The system employs a UR-10 6-DOF manipulator to convey a cup of drink to the user’s mouth and perform autonomously the drinking task in a nature manner. A Kinect sensor is used for online face and mouth detection and head pose tracking, recognition of the cup region of interest and the drink level. The robot trajectory planning and control are done such that the cup is kept …

Authors

Amos Alwala,Haitham El-Hussieny,Abdelfatah Mohamed,Kiyotaka Iwasaki,Samy FM Assal

Published Date

2022/5/28

Finite element analysis control and simulation of a novel 3D hybrid balanced manipulator

This paper presents a novel 3D hybrid balanced manipulator whose end-effector can move in the 3D space with three translational degrees of freedom without changing the orientation. The proposed industrial manipulator uses only rotary joints and actuators with a structure gathering the characteristics of parallel and serial manipulators. The proposed manipulator uses only rotary actuators due to their cheaper cost, smaller installation size and better reliability compared with linear actuators. The manipulator description, kinematic analysis, mechanical design, finite element analysis and controller design are presented in this work. A simulation of pick & place process is also discussed to validate the efficiency of the proposed manipulator to accomplish various industrial tasks.

Authors

Ahmed Sameh,Mohamed Fanni,Abdelfatah M Mohamed

Journal

Int. J. Mech. Mechtron. Eng.

Published Date

2021/2

Development of a balanced 3D translational interconnected manipulator with solely rotary joints/actuators and free-internal-singularity workspace

A new interconnected translational manipulator is proposed. It is the only interconnected manipulator that makes such motion using revolute joints and three rotary actuators. Rotary joints and actuators are favored practically than their linear counterparts due to their lower price, lower size of installation and higher reliability. The configuration of the proposed manipulator allows it to maintain, to a large extent, the combined merits of serial and parallel manipulators. In contrast to all other existing interconnected manipulators, the proposed manipulator has free-internal-singularity workspace. Using a practical proposed methodology, a balancing system is developed that reduces dramatically the power consumption and facilitates using small-sized-motors. The mobility analysis is carried out using a newly developed methodology suitable for interconnected manipulators. Closed forms for position and velocity kinematics …

Authors

Ahmed Sameh,Mohamed Fanni,Victor Parque,Abdelfatah M Mohamed

Journal

IEEE Access

Published Date

2021/12/20

Concurrent design for gravity-balancing and rigidity enhancing of a new interconnected manipulator

Interconnected manipulators possess the advantages of both parallel and serial manipulators to a great extent since they combine the serial and parallel structures inherently, which differentiates them from the hybrid manipulators. However, the passive joints in such manipulators degenerate their rigidity. The gravity balancing of a newly developed interconnected manipulator is achieved by adding springs connecting the driving links with the base. Such springs do not affect the rigidity of the manipulator. In this work, we design a new balancing system where the springs are distributed between the manipulator links without using any auxiliary links. The methodology for balancing this interconnected manipulator depends mainly on dividing it into several serial kinematic chains with passive-revolute joints. Each link of these kinematic chains is transformed into a single-link-equilibrator subsystem which can be …

Authors

Ezz El-Din Nehad Mostafa,Mohamed Fanni,Abdelfatah M Mohamed

Published Date

2021/11/1

Low-computational-cost technique for modeling macro fiber composite piezoelectric actuators using finite element method

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. The proposed technique replaces the MFC actuator with an equivalent simple monolithic piezoceramic actuator using two electrodes only, which dramatically reduces the computational costs. The proposed technique was proven theoretically since it generates the same electric field, strain, and displacement as the physical MFC. Then, it was validated with the detailed FE model using the actual number of IDEs, as well as with experimental tests using triaxial rosette strain gauges. The computational costs for the simplified model compared with the detailed model were dramatically reduced by about 74% for memory usage, 99% for result file size, and 98.6% for computational time. Furthermore, the experimental results successfully verified the proposed technique with good consistency. To show the effectiveness of the proposed technique, it was used to simulate a morphing wing covered almost entirely by MFCs with low computational cost.

Authors

Diaa Emad,Mohamed A Fanni,Abdelfatah M Mohamed,Shigeo Yoshida

Journal

Materials

Published Date

2021/8/2

Model predictive control based on linear parameter-varying models of active magnetic bearing systems

Active magnetic bearing (AMB) system has been recently employed widely as an ideal equipment for high-speed rotating machines. The inherent challenges to control the system include instability, nonlinearity and constricted range of operation. Therefore, advanced control technology is essential to optimize AMB system performance. This paper presents an application of model predictive control (MPC) based on linear parameter-varying (LPV) models to control an AMB system subject to input and state constraints. For this purpose, an LPV model representation is derived from the nonlinear dynamic model of the AMB system. In order to provide stability guarantees and since the obtained LPV model has a large number of scheduling parameters, the parameter set mapping (PSM) technique is used to reduce their number. Based on the reduced model, a terminal cost and an ellipsoidal terminal set are determined …

Authors

Abdelrahman Morsi,Hossam Seddik Abbas,Sabah Mohamed Ahmed,Abdelfatah Mahmoud Mohamed

Journal

IEEE Access

Published Date

2021/2/2

Design, control, and dynamic simulation of securing and transformation mechanisms for a hybrid ground aerial robot

A hybrid ground aerial robot (HGAR) has been developed to combine both capabilities of aerial robots and ground mobile robots to overcome the limitations of each single type. This research introduces a new securing mechanism and improves also the propeller-thruster transformation mechanism for the HGAR. The securing mechanism is designed to be light and to give high stability, and low power consumption for both flying and ground motion modes. In the developed transformation mechanism, the robot uses the propellers which are already installed for the aerial mission as actuators to transform between the flight and ground-motion configurations. In contrast to the previous design, no need here to additional position controller to avoid propellers’ collision or springs to start the switch to the ground configuration. The propellers are controlled by the Feedback-Linearization which is combined with Robust-Internal Compensator to achieve the controller robustness. The HGAR is virtually built and dynamically modeled using ADAMS® software then connected with MATLAB/Simulink® to test the proposed mechanisms and the proposed controller. The results indicate a satisfactory performance of the proposed mechanisms and controller.

Authors

Maha Salman,Ahmed Sameh,Mohamed Fanni,Shigeki Sugano,Abdelfatah M Mohamed

Journal

International Journal of Mechanical and Mechatronics Engineering

Published Date

2020

Design and task management of a mobile solar station for charging flying drones

This paper provides design and task management of the first stage of a project entitled “Fall-Army Worm (FAW) insect killer”. The project has three main stages: design and energy management stage, flying control of drone stage and detecting and killing FAW stage. The goal of this project is to detect and kill; without chemical methods; a harmful FAW insect which is rapidly spreading in Africa and Asia. This paper focuses on design of the first stage of the system, getting maximum power and controlling the energy of the system. A Photo Voltaic system with energy storage devices is proposed to be the source of power. A new algorithm to control the time scheduling of the killing and detection mission is proposed and its effects on the system’s energy and mission period are studied. A comparison between different methods for tracking the maximum power from PV panels is performed to choose the best (less time and …

Authors

Essam Ali,Mohamed Fanni,Abdelfatah M Mohamed

Journal

E3S Web of Conferences

Published Date

2020

Enhanced quadratic V/f-based induction motor control of solar water pumping system

In rural and remote areas, solar photovoltaic energy (PV) water pumping systems (SPWPSs) are being favored over diesel-powered water pumping due to environmental and economic considerations. PV is a clean source of electric energy offering low operational and maintenance cost. However, the direct-coupled SPWPS requires inventive solutions to improve the system’s efficiency under solar power variations while producing the required amount of pumped water concurrently. This paper introduces a new quadratic V/f (Q V/f) control method to drive an induction motor powered directly from a solar PV source using a two-stage power converter without storage batteries. Conventional controllers usually employ linear V/f control, where the reference motor speed is derived from the PV input power and the dc-link voltage error using a simple proportional–integral (PI) controller. The proposed Q V/f-based system is compared with the conventional linear V/f control using a simulation case study under different operating conditions. The proposed controller expectedly enhances the system output power and efficiency, particularly under low levels of solar irradiance. Some alternative controllers rather than the simple PI controller are also investigated in an attempt to improve the system dynamics as well as the water flow output. An experimental prototype system is used to validate the proposed Q V/f under diverse operating conditions.

Authors

Neama Yussif,Omar H Sabry,Ayman S Abdel-Khalik,Shehab Ahmed,Abdelfatah M Mohamed

Journal

Energies

Published Date

2020/12/28

New efficient technique for finite element modeling of macro fiber composite piezoelectric materials

A lot of interest to simulate piezocomposite actuators with finite element method has been increased recently. However, there are still open questions regarding the modeling methodology, accuracy, and computational time cost. In this work, a new technique for modeling macro fiber composite piezoelectric actuator by finite element analysis is proposed. The presented technique models the piezocomposite actuator as a simple monolithic piezoceramic material with just two electrodes along its longitudinal extremes instead of using the actual large number of electrodes which results in very fine finite element mesh with high computational time cost. The proposed technique is validated successfully by comparing its results with those of the actual detailed model as well as with the published experimental results and manufacturer’s data.

Authors

Diaa Emad,Mohamed A Fanni,Abdelfatah M Mohamed

Journal

Materials Science Forum

Published Date

2020/7/23

Model predictive control for an active magnetic bearing system

Active magnetic bearing (AMB) systems have attracted much attention in the high speed rotating machinery industry. This paper presents an application of discrete-time model predictive control (MPC) subject to input/states constraints to control an AMB system based on linear time-invariant (LTI) model. The main control objectives are to levitate the rotor shaft of the AMB system while tracking a reference trajectory and to reject possible disturbances without violating the input and state constraints. A nonlinear (NL) model of the AMB system is considered; at each sampling instant, a finite horizon MPC problem is solved to compute the optimal control input. The performance and the efficiency of the proposed MPC is validated via simulation and comparison with another classical PID controller.

Authors

Abdelrahman Morsi,Sabah M Ahmed,Abdelfatah M Mohamed,Hossam S Abbas

Published Date

2020/4/16

Optimized energy management strategy for grid connected double storage (pumped storage-battery) system powered by renewable energy resources

This paper presents a grid-connected double storage system (DSS) consisting of pumped-storage hydropower (PSH) and battery. The system is supplied by photovoltaics and wind turbines. In the proposed hybrid system, batteries absorb excess renewable energy that cannot be stored in PSH and they cover loads that cannot be supplied from the water turbine. To improve the system performance, a novel energy management strategy for the DSS is proposed. The strategy is based on an optimized factor that governs the charging process of the DSS. The problem of the optimal system design is solved by a non-dominated sorting genetic algorithm (NSGA-II). The multi-objective function considers simultaneously the minimal investment cost and minimal CO2 emissions. A comparative study of photovoltaic/wind/pumped-storage hydropower and photovoltaic/wind/double storage system is performed to show the …

Authors

Alaaeldin M Abdelshafy,Jakub Jurasz,Hamdy Hassan,Abdelfatah M Mohamed

Journal

Energy

Published Date

2020/2/1

See List of Professors in Abdelfatah M. Mohamed University(Egypt-Japan University of Science and Technology)

Abdelfatah M. Mohamed FAQs

What is Abdelfatah M. Mohamed's h-index at Egypt-Japan University of Science and Technology?

The h-index of Abdelfatah M. Mohamed has been 13 since 2020 and 17 in total.

What are Abdelfatah M. Mohamed's top articles?

The articles with the titles of

A Delphi Consensus to Prioritize the Next Steps to Address Racial Disparities Through Critical Care Research

Bilateral control of a 2-dof teleoperated manipulator using udp scheme

Imbalance compensation of active magnetic bearing systems using model predictive control based on linear parameter-varying models

Hybrid Impedance Control-based Autonomous Robotic System for Natural-like Drinking Assistance for Disabled Persons

Dynamic Modeling and Hybrid Compliant Control for a 2-DOF Compliant Robotic Leg With a New Biarticular Actuation

A new battery selection system and charging control of a movable solar-powered charging station for endless flying killing drones

Design and hybrid impedance control of a compliant and balanced wrist rehabilitation device

Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System

...

are the top articles of Abdelfatah M. Mohamed at Egypt-Japan University of Science and Technology.

What are Abdelfatah M. Mohamed's research interests?

The research interests of Abdelfatah M. Mohamed are: Robust and Intelligent Control, Magnetic Bearings, Robotics

What is Abdelfatah M. Mohamed's total number of citations?

Abdelfatah M. Mohamed has 1,256 citations in total.

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