This paper develops a mathematical model of an inverted wheeled robot and uses it to simulate and... more This paper develops a mathematical model of an inverted wheeled robot and uses it to simulate and animate the robot dynamics. The robot is modeled as a three-body system consisting of a pendulum and two wheels where the Newtonian mechanics is employed to derive the dynamical equations. The proposed model, in its current configuration, is designed to simulate and animate the controlled robot for forming a virtual controller-testing setup. The open-loop system is simulated by solving the nonlinear dynamic equations recursively within an animation loop by using the Runge-Kutta 4 (RK4) method. The nonlinear model is linearized for designing a PID controller to stabilize the closed-loop system of the robot. The animation process is conducted by creating two graphical objects that resemble the wheel and pendulum in a graphical user interface window. The keyboard arrows are used to interactively input the horizontal motion of the robot cart to the animation process where there is also an option to switch the controller off. Simulation results are provided for both the open-loop and closed-loop cases to illustrate the effectiveness of the results.
Three-dimensional (3D) printing can revolutionize the way products have been designed and manufac... more Three-dimensional (3D) printing can revolutionize the way products have been designed and manufactured. This necessitates engineering graduates equipped with the knowledge and skills of 3D printing. As a result, the educational aspects of 3D printing have earned a great deal of attention. Nevertheless, to teach 3D printing in an undergraduate engineering degree program, an outcomes-oriented approach integrating engineering design, object visualization/digitization, and 3D printing domains can be used. Accordingly, this study presents a tutorial development method to teach undergraduate engineering students the knowledge and skills of 3D printing. The method integrates the abovementioned domains maintaining a hierarchy among the seven ABET-prescribed outcomes. The hierarchy organizes the outcomes into three levels (primary, secondary, and tertiary). The presented method is implemented by introducing a tutorial where a spur gear-pinion pair is designed, visualized, digitized, and 3D p...
2017 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO), 2017
This paper develops a mathematical model of an inverted wheeled robot and uses it to simulate and... more This paper develops a mathematical model of an inverted wheeled robot and uses it to simulate and animate the robot dynamics. The robot is modeled as a three-body system consisting of a pendulum and two wheels where the Newtonian mechanics is employed to derive the dynamical equations. The proposed model, in its current configuration, is designed to simulate and animate the controlled robot for forming a virtual controller-testing setup. The open-loop system is simulated by solving the nonlinear dynamic equations recursively within an animation loop by using the Runge-Kutta 4 (RK4) method. The nonlinear model is linearized for designing a PID controller to stabilize the closed-loop system of the robot. The animation process is conducted by creating two graphical objects that resemble the wheel and pendulum in a graphical user interface window. The keyboard arrows are used to interactively input the horizontal motion of the robot cart to the animation process where there is also an option to switch the controller off. Simulation results are provided for both the open-loop and closed-loop cases to illustrate the effectiveness of the results.
International Journal of Advance Research, Ideas and Innovations in Technology, 2019
The purpose of this paper is to find from literature, (a) why ‘smart factory’ is an appropriate d... more The purpose of this paper is to find from literature, (a) why ‘smart factory’ is an appropriate development to the factory system now, and (b) what is a smart factory, and what are its constituents and governing principles of design. The findings are used to propose a methodology for retrofitting or designing a smart factory. In the first step, the prevailing factory system and its weaknesses are identified. In the next step the technological developments, that are conducive to form the smart factory, which outperforms the existing factory system, are reviewed. In the third step the smart factory definitions are analyzed and in the fourth step the constituents, governing design principles, as identified from the literature are collected, analyzed and categorized. In the final step, we used the findings to propose a methodology to retrofit an existing factory or design a new smart factory. The literature concerning ‘smart factory’ is abundant, and a strict selection scheme was used, ...
The interdisciplinary nature of the field of robotics results in emergence of various methods for... more The interdisciplinary nature of the field of robotics results in emergence of various methods for teaching robotics as a subject in engineering graduate and undergraduate curricula. Each of these methods focuses only on limited aspects that are of relevance to robotics, and only few address the need to mimic a realistic industrial robotic design and development. This article presents experiences of the authors in teaching and supervising a real-time robotics system course and a graduate project, which are given from a mechatronics perspective through introduction of a design and development project comprising various systems of a hydraulically actuated tripod platform. The various components and systems addressed in this project as well as the used development tools positively impacted the interests of the involved students to put more efforts in grasping the course materials and to build valuable hands-on experience.
This article addresses the issue of educating engineering students with the knowledge and skills ... more This article addresses the issue of educating engineering students with the knowledge and skills of Computer-Aided Design and Manufacturing (CAD/CAM). In particular, three carefully designed tutorials—cutting tool offsetting, tool-path generation for freeform surfaces, and the integration of advanced machine tools (e.g., hexapod-based machine tools) with solid modeling—are described. The tutorials help students gain an in-depth understanding of how the CAD/CAM-relevant hardware devices and software packages work in real-life settings. At the same time, the tutorials help students achieve the following educational outcomes: (1) an ability to apply the knowledge of mathematics, science, and engineering; (2) an ability to design a system, component, or process to meet the desired needs, (3) an ability to identify, formulate, and solve engineering problems; and (4) an ability to use the techniques, skills, and modern engineering tools that are necessary for engineering practice. The tut...
International Journal of Automation Technology, 2016
Fractal geometry can create virtual models of complex shapes as CAD data, and from these additive... more Fractal geometry can create virtual models of complex shapes as CAD data, and from these additive manufacturing can directly create physical models. The virtual-model-building capacity of fractal geometry and the physical-model-building capacity of additive manufacturing can be integrated to deal with the design and manufacturing of complex shapes. This study deals with the manufacture of fractal shapes using commercially available additive manufacturing facilities and 3D CAD packages. Particular interest is paid to building physical models of an IFS-created fractal after remodeling it for manufacturing. This article introduces three remodeling methodologies based on binary-grid, convex/concave-hull, and line-model techniques. The measurements of the manufactured fractal shapes are also reported, and the degree of accuracy that can be achieved by the currently available technology is shown.
This study considers maximising conversion between the mechanical and electrical powers for heavi... more This study considers maximising conversion between the mechanical and electrical powers for heaving point absorbers (HPAs). The objective is implemented by generating the buoy's velocity reference by designing the intrinsic resistance. The authors designed the intrinsic resistance using a rapid procedure involving the mechanical and electrical models of HPAs. The electrical power conversion can be improved by tuning a weighting constant with the constraints on the maximum value of the control force and the power take-off utilisation index. The value of the intrinsic resistance is varied based on irregular sea states, which are characterised by their significant heights and peak angular frequencies. A simple robust proportional-integral-derivative (PID) controller is utilised in the servo feedback control system to follow the velocity reference. The PID controller is designed using the complex polynomial stabilisation to convert the robust performance into a set of linear programming problems. A set of admissible PID controller is obtained to satisfy the robust performance specifications. The authors tested the proposed method in various nominal and perturbation scenarios, and its performance was compared with existing reference and non-reference based HPA control strategies.
Transactions of the Institute of Measurement and Control, 2010
Variations in system parameters because of changing operating conditions could result in deterior... more Variations in system parameters because of changing operating conditions could result in deteriorated system performance. To ensure robustness, modelling of such systems requires uncertain parameters to be dealt with as interval quantities. An overhead crane is a type of system that has inherent variation in some of its parameters. These parameters include cable length, trolley mass and payload. Hence, the interval parameter concept plays an important role in the control of overhead cranes. This paper considers the control problem of an overhead crane system with interval parameters. The paper presents a new technique based on Monte Carlo simulation to select properly optimal controller parameters. The objective of the control is to minimize the overshoot of the swing angle response throughout the crane travel regardless of the variations of the cable length. The cable length is assumed known within lower and upper bounds. The presented results show the usefulness of the Monte Carlo...
ABSTRACT As trade competition is getting fiercer, innovation in all areas of product realization ... more ABSTRACT As trade competition is getting fiercer, innovation in all areas of product realization is becoming more of a need than a want. In this paper, the authors present an innovative idea where a FlexDie is designed to manufacture sheet metal parts. The idea is to mimic the representation of graphics and text on a screen using pixels. The developed FlexDie in this paper consists of the two halves that are similar in design. It comprises pixel like pins assembled in a twodimensional array in the XY plane. The pins’ heights in the Z-direction are adjustable to yield a desired topology. Each pixel can be altered and locked at a certain Z-coordinate. A prototype is developed to test the concept and produce preliminary results. The developed prototype consists of two-half dies, each having 8x8 square pixels, each of about 10x10 square mm. In the implemented design the Z-coordinates of the pixels are controlled and locked at desired heights via an array of screws. Sample parts consisting of three-dimensional metal sheets were manufactured using the developed FlexDie. Future work to improve the process is also discussed. Key wordsCAD/CAM integration-FMS, flexible die-group technology-sustainable manufacturing
2008 5th International Symposium on Mechatronics and Its Applications, 2008
Page 1. Proceeding ofthe 5th International Symposium on Mechatronics and its Applications (ISMA08... more Page 1. Proceeding ofthe 5th International Symposium on Mechatronics and its Applications (ISMA08), Amman, Jordan, May 27-29,2008 Mechatronics Approach to Teaching Real-Time Robotics Khalifa H. Harib, Assistant Professor, Chairman of Department of Mechanical Eng. ...
This paper develops a mathematical model of an inverted wheeled robot and uses it to simulate and... more This paper develops a mathematical model of an inverted wheeled robot and uses it to simulate and animate the robot dynamics. The robot is modeled as a three-body system consisting of a pendulum and two wheels where the Newtonian mechanics is employed to derive the dynamical equations. The proposed model, in its current configuration, is designed to simulate and animate the controlled robot for forming a virtual controller-testing setup. The open-loop system is simulated by solving the nonlinear dynamic equations recursively within an animation loop by using the Runge-Kutta 4 (RK4) method. The nonlinear model is linearized for designing a PID controller to stabilize the closed-loop system of the robot. The animation process is conducted by creating two graphical objects that resemble the wheel and pendulum in a graphical user interface window. The keyboard arrows are used to interactively input the horizontal motion of the robot cart to the animation process where there is also an option to switch the controller off. Simulation results are provided for both the open-loop and closed-loop cases to illustrate the effectiveness of the results.
Three-dimensional (3D) printing can revolutionize the way products have been designed and manufac... more Three-dimensional (3D) printing can revolutionize the way products have been designed and manufactured. This necessitates engineering graduates equipped with the knowledge and skills of 3D printing. As a result, the educational aspects of 3D printing have earned a great deal of attention. Nevertheless, to teach 3D printing in an undergraduate engineering degree program, an outcomes-oriented approach integrating engineering design, object visualization/digitization, and 3D printing domains can be used. Accordingly, this study presents a tutorial development method to teach undergraduate engineering students the knowledge and skills of 3D printing. The method integrates the abovementioned domains maintaining a hierarchy among the seven ABET-prescribed outcomes. The hierarchy organizes the outcomes into three levels (primary, secondary, and tertiary). The presented method is implemented by introducing a tutorial where a spur gear-pinion pair is designed, visualized, digitized, and 3D p...
2017 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO), 2017
This paper develops a mathematical model of an inverted wheeled robot and uses it to simulate and... more This paper develops a mathematical model of an inverted wheeled robot and uses it to simulate and animate the robot dynamics. The robot is modeled as a three-body system consisting of a pendulum and two wheels where the Newtonian mechanics is employed to derive the dynamical equations. The proposed model, in its current configuration, is designed to simulate and animate the controlled robot for forming a virtual controller-testing setup. The open-loop system is simulated by solving the nonlinear dynamic equations recursively within an animation loop by using the Runge-Kutta 4 (RK4) method. The nonlinear model is linearized for designing a PID controller to stabilize the closed-loop system of the robot. The animation process is conducted by creating two graphical objects that resemble the wheel and pendulum in a graphical user interface window. The keyboard arrows are used to interactively input the horizontal motion of the robot cart to the animation process where there is also an option to switch the controller off. Simulation results are provided for both the open-loop and closed-loop cases to illustrate the effectiveness of the results.
International Journal of Advance Research, Ideas and Innovations in Technology, 2019
The purpose of this paper is to find from literature, (a) why ‘smart factory’ is an appropriate d... more The purpose of this paper is to find from literature, (a) why ‘smart factory’ is an appropriate development to the factory system now, and (b) what is a smart factory, and what are its constituents and governing principles of design. The findings are used to propose a methodology for retrofitting or designing a smart factory. In the first step, the prevailing factory system and its weaknesses are identified. In the next step the technological developments, that are conducive to form the smart factory, which outperforms the existing factory system, are reviewed. In the third step the smart factory definitions are analyzed and in the fourth step the constituents, governing design principles, as identified from the literature are collected, analyzed and categorized. In the final step, we used the findings to propose a methodology to retrofit an existing factory or design a new smart factory. The literature concerning ‘smart factory’ is abundant, and a strict selection scheme was used, ...
The interdisciplinary nature of the field of robotics results in emergence of various methods for... more The interdisciplinary nature of the field of robotics results in emergence of various methods for teaching robotics as a subject in engineering graduate and undergraduate curricula. Each of these methods focuses only on limited aspects that are of relevance to robotics, and only few address the need to mimic a realistic industrial robotic design and development. This article presents experiences of the authors in teaching and supervising a real-time robotics system course and a graduate project, which are given from a mechatronics perspective through introduction of a design and development project comprising various systems of a hydraulically actuated tripod platform. The various components and systems addressed in this project as well as the used development tools positively impacted the interests of the involved students to put more efforts in grasping the course materials and to build valuable hands-on experience.
This article addresses the issue of educating engineering students with the knowledge and skills ... more This article addresses the issue of educating engineering students with the knowledge and skills of Computer-Aided Design and Manufacturing (CAD/CAM). In particular, three carefully designed tutorials—cutting tool offsetting, tool-path generation for freeform surfaces, and the integration of advanced machine tools (e.g., hexapod-based machine tools) with solid modeling—are described. The tutorials help students gain an in-depth understanding of how the CAD/CAM-relevant hardware devices and software packages work in real-life settings. At the same time, the tutorials help students achieve the following educational outcomes: (1) an ability to apply the knowledge of mathematics, science, and engineering; (2) an ability to design a system, component, or process to meet the desired needs, (3) an ability to identify, formulate, and solve engineering problems; and (4) an ability to use the techniques, skills, and modern engineering tools that are necessary for engineering practice. The tut...
International Journal of Automation Technology, 2016
Fractal geometry can create virtual models of complex shapes as CAD data, and from these additive... more Fractal geometry can create virtual models of complex shapes as CAD data, and from these additive manufacturing can directly create physical models. The virtual-model-building capacity of fractal geometry and the physical-model-building capacity of additive manufacturing can be integrated to deal with the design and manufacturing of complex shapes. This study deals with the manufacture of fractal shapes using commercially available additive manufacturing facilities and 3D CAD packages. Particular interest is paid to building physical models of an IFS-created fractal after remodeling it for manufacturing. This article introduces three remodeling methodologies based on binary-grid, convex/concave-hull, and line-model techniques. The measurements of the manufactured fractal shapes are also reported, and the degree of accuracy that can be achieved by the currently available technology is shown.
This study considers maximising conversion between the mechanical and electrical powers for heavi... more This study considers maximising conversion between the mechanical and electrical powers for heaving point absorbers (HPAs). The objective is implemented by generating the buoy's velocity reference by designing the intrinsic resistance. The authors designed the intrinsic resistance using a rapid procedure involving the mechanical and electrical models of HPAs. The electrical power conversion can be improved by tuning a weighting constant with the constraints on the maximum value of the control force and the power take-off utilisation index. The value of the intrinsic resistance is varied based on irregular sea states, which are characterised by their significant heights and peak angular frequencies. A simple robust proportional-integral-derivative (PID) controller is utilised in the servo feedback control system to follow the velocity reference. The PID controller is designed using the complex polynomial stabilisation to convert the robust performance into a set of linear programming problems. A set of admissible PID controller is obtained to satisfy the robust performance specifications. The authors tested the proposed method in various nominal and perturbation scenarios, and its performance was compared with existing reference and non-reference based HPA control strategies.
Transactions of the Institute of Measurement and Control, 2010
Variations in system parameters because of changing operating conditions could result in deterior... more Variations in system parameters because of changing operating conditions could result in deteriorated system performance. To ensure robustness, modelling of such systems requires uncertain parameters to be dealt with as interval quantities. An overhead crane is a type of system that has inherent variation in some of its parameters. These parameters include cable length, trolley mass and payload. Hence, the interval parameter concept plays an important role in the control of overhead cranes. This paper considers the control problem of an overhead crane system with interval parameters. The paper presents a new technique based on Monte Carlo simulation to select properly optimal controller parameters. The objective of the control is to minimize the overshoot of the swing angle response throughout the crane travel regardless of the variations of the cable length. The cable length is assumed known within lower and upper bounds. The presented results show the usefulness of the Monte Carlo...
ABSTRACT As trade competition is getting fiercer, innovation in all areas of product realization ... more ABSTRACT As trade competition is getting fiercer, innovation in all areas of product realization is becoming more of a need than a want. In this paper, the authors present an innovative idea where a FlexDie is designed to manufacture sheet metal parts. The idea is to mimic the representation of graphics and text on a screen using pixels. The developed FlexDie in this paper consists of the two halves that are similar in design. It comprises pixel like pins assembled in a twodimensional array in the XY plane. The pins’ heights in the Z-direction are adjustable to yield a desired topology. Each pixel can be altered and locked at a certain Z-coordinate. A prototype is developed to test the concept and produce preliminary results. The developed prototype consists of two-half dies, each having 8x8 square pixels, each of about 10x10 square mm. In the implemented design the Z-coordinates of the pixels are controlled and locked at desired heights via an array of screws. Sample parts consisting of three-dimensional metal sheets were manufactured using the developed FlexDie. Future work to improve the process is also discussed. Key wordsCAD/CAM integration-FMS, flexible die-group technology-sustainable manufacturing
2008 5th International Symposium on Mechatronics and Its Applications, 2008
Page 1. Proceeding ofthe 5th International Symposium on Mechatronics and its Applications (ISMA08... more Page 1. Proceeding ofthe 5th International Symposium on Mechatronics and its Applications (ISMA08), Amman, Jordan, May 27-29,2008 Mechatronics Approach to Teaching Real-Time Robotics Khalifa H. Harib, Assistant Professor, Chairman of Department of Mechanical Eng. ...
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