Research Title: Multi-Robot Task Scheduling and Routing Using Neuro-Fuzzy Control

Author: Kasim Mousa Al-Aubidy, Published Year: 2015

12th IEEE International Multi-Conference on Signals, Systems & Devices (SSD2015), Mahdia-Tunisia

Faculty: Engineering and Technology

Abstract: Multi-robot systems have been widely used in intelligent environments such as modern flexible manufacturing systems. Task planning is the most important issue to specify how to use mobile robots and other resource efficiently. It is not an easy task to achieve effective cooperation between these robots in such a dynamic environment. An efficient scheduling methodology together with intelligent real-time control is necessary for a multi-robot system. This paper presents the analysis of a real-time fuzzy-based task scheduler and routing to deal with an intelligent framework has four programmable CNC machine, three mobile robots and other recourses. A neurofuzzy controller has been used to guide the mobile robot from the source point to its destination with real-time obstacle avoidance. The simulated results and real experiments on group of three mobile robots show that the multi-robot system can deal with the proposed scheduling methodology to achieve the required operation.

Keywords: neurofuzzy control; multi-robot system; task allocation and scheduling; mobile robot; obstacle avoidance.

Research Title: Real-Time Monitoring and Intelligent Control for Greenhouses Based on Wireless Sensor Network

Author: Kasim Mousa Al-Aubidy, Published Year: 2014

11th IEEE Intr. Multi-Conf. on Systems, Signals, Devices (SSD14), Barcelona, Spain.

Faculty: Engineering and Technology

Abstract: The main objective of this research is to design and implement a real-time monitoring and control of several environmental parameters for group of greenhouses. Each greenhouse is considered as a node in a wireless sensor network. A single-board microcontroller-based system has been designed and implemented to monitor and control several variables and maintain desired condition in each greenhouse. A rule-based fuzzy controller has been designed to control the microclimate of each greenhouse. The proposed system enables the farmer to monitor both the internal environment of the greenhouse. Also, the farmer can send commands to turn ON or OFF certain devices in a selected greenhouse through wireless communications. Simulated and real results have been achieved to demonstrate the system performance and real-time remote monitoring and control activities.

Keywords: Greenhouse automation, Remote monitoring and control, Fuzzy control, Intelligent control, Wireless sensor network.

Research Title: GPRS-Based Remote Sensing and Teleoperation of a Mobile Robot

Author: Kasim Mousa Al-Aubidy, Published Year: 2013

10th IEEE International Multi-Conference on Systems, Signals, Devices (SSD13), Tunisia

Faculty: Engineering and Technology

Abstract: The main objective of this research was to design and implement a remote sensing and monitoring system running on mobile robot with obstacle avoidance capability in unreachable area. A simple mobile robot prototype with onboard sensors has been designed and implemented to scan and monitor several variables in the surrounding environment. Teleoperation of such a mobile robot is a challenging task that requires an efficient interface and a reliable real-time robot control to avoid obstacles. The proposed system enables the user (base station) to send commands to the remote station (mobile robot), and receive scanned data and images from the environment through the internet and mobile DTMF signal. The proposed system hardware and software was implemented using PROTUS development software to obtain the suitable design parameters. Then, real experiments have been achieved to demonstrate the system performance including both the ultrasonic teleoperation of mobile robot navigation to avoid obstacles, and real-time sensing and monitoring in unreachable area.

Keywords: Mobile Robot, Robot navigation, Remote sensing and monitoring, Wireless sensor networks, Obstacles avoidance.

Research Title: Dual-Robot Navigation System for Real-Time Sensing and Monitoring

Author: Kasim Mousa Al-Aubidy, Published Year: 2014

The 15th International Workshop on Research and Education in Mechatronics (REM2014), ElGouna-Egypt

Faculty: Engineering and Technology

Abstract: The main objective of this research is to design and realize a multi-robot system for real-time sensing and monitoring suitable for hazardous and/or unreachable environment. The proposed system has two mobile robots; rover and eye. Each mobile robot has its own embedded microcontroller and set of sensors. Wireless communications between local site and these mobile robots are achieved by WiFi, ZigBee and Bluetooth techniques, and can be accessed through the internet. Wireless teleoperation of these mobile robots is a challenging task that requires an efficient interface and a reliable real-time control algorithm to avoid obstacles. The proposed system enables the authorized operator to send commands to the mobile robots, and receive scanned data and images from the environment through the internet. The mechanical part of the remote station has been built after careful selection of the design parameters using CAD/CAM tools. While, the system hardware and software parts of the embedded controllers were implemented using PROTEUS development tool to obtain the suitable design parameters. Then, real experiments have been achieved to demonstrate the system performance including the wireless teleoperation of the two mobile robots, their navigation to avoid obstacles, and real-time sensing and monitoring.

Keywords: Mobile robot, Multi-robot system, Remote sensing and monitoring, Wireless sensor networks, Obstacles avoidance.

Research Title: Real-time healthcare monitoring system using wireless sensor network

Author: Kasim Mousa Al-Aubidy, Published Year: 2017

International Journal of Digital Signals and Smart Systems (IJDSSS), Vol.1, No.1, pp.26-4

Faculty: Engineering and Technology

Abstract: This paper presents the design, implementation and evaluation of a wireless portable healthcare monitoring system. It has a set of medical sensors connected to an embedded microcontroller with a wireless communication module. By scanning the medical sensors, the embedded microcontroller checks if the patient health condition is normal or not. In the case of abnormal condition, the embedded unit transmits the measured signals directly to a medical centre through the internet. According to the patient health condition, a doctor will send medical advice to the patient to address the abnormality of the patient. A prototype system has been designed, implemented, and validated by both laboratory test and comparison with recommended medical standards. A detailed analysis and evaluation of the healthcare unit is given in the paper. The obtained results indicate that the proposed healthcare system is accurate in scanning, clear in monitoring, reliable in communication, and can be used as a portable medical kit for outdoor patient monitoring and supervising, or as a medical station at home.

Keywords: Embedded healthcare; wireless sensor networks; biomedical device; ECG monitoring; outdoor patient monitoring.

Research Title: An efficient media ports resource discovery for service networks

Author: Kasim Mousa Al-Aubidy, Published Year: 2014

International Journal of Business Information Systems, Vol. 15, No. 2

Faculty: Engineering and Technology

Abstract: Interest in service specific overlay networks (SSONs) has been increased in recent years, where each overlay is designed to meet the user’s specific requirements. It is considered an effective means to support end-to-end quality of service guarantees. A key component of these overlay networks is the media ports (MPs). MPs are network side functions that provide value added functions such as catching, synchronisation and adaptation. Efficient overlay networks construction requires an efficient and dynamic MPs resource discovery approach. In this paper, the researchers propose a new resource discovery scheme for MPs. The proposed approach clusters MPs into groups of similar types. Clusters are disjoint with no global entity. To discover MPs, a modified version of random walk (RW) called RW+ is presented. The proposed RW+ allows network nodes to learn about existing clusters and resources in an efficient way which renders RW+ to be partially random. This greatly enhances the performance and the efficiency of the resource discovery scheme.

Keywords: Computer networks, Service specific overlay networks, Decision making,

Research Title: A Comprehensive Review of Future Photovoltaic Systems

Author: Firas Abdullah Obeidat, Published Year: 2018

Solar Energy,

Faculty: Engineering and Technology

Abstract: This paper presents a comprehensive review of photovoltaic (PV) systems with more focus on PV inverters. At this stage, there is no consensus that this technology will play a major role or will be the first choice for energy generation in the future because of many reasons, the most important of which is its lack of efficiency. Different materials are used and other materials are expected to be used for developing PV cells, modules and power electronic devices in order to increase their efficiency and lifetime, and to reduce their costs. Future power electronic devices are expected to have reduced chip thickness, more specific converter topologies, better control of types of materials, improved nanotechnology, and inbuilt current bi-directionality. Different aspects will be discussed in this paper related to PV inverters including power electronic materials, topologies, grid codes, storage systems, and others.

Keywords: future PV system, PV inverters, PV cells, Power electronic devices, Grid codes

Research Title: PV Micro Inverter Reliability Prediction Based on RIAC

Author: Firas Abdullah Obeidat, Published Year: 2018

Water & Energy International Journal,

Faculty: Engineering and Technology

Abstract: This paper discusses the reliability prediction of a 250 W photovoltaic micro inverter. Using the bill of materials the reliabilities of the main, gate drive, power supply, current and voltage sensing and microprocessor circuits were investigated, and the failure rate calculated. To take the temperature into account, the hourly temperature has been recorded for four years to generate a histogram temperature versus percentage time spent at each temperature. The failure rate of the component was calculated at each inverter operating temperature, and multiplied by the percentage occurrence of this operating temperature to obtain a weighted failure rate. A similar procedure was used to calculate the failure rate of a 240 W photovoltaic micro inverter main circuit to compare the failure rate of the components for the two photovoltaic micro inverter main circuits. All calculations are based on Reliability Information Analysis Center (RIAC) method as one of the most recent reliability methods and show the influence of each inverter component on PV micro inverter reliability.

Keywords: Failure rate, PV micro inverters, Reliability prediction, RIAC

Research Title: ZeroNet Energy Building in Jordan

Author: Nadia Fayez Badarneh, Published Year: 2011

GCREDDER, Amman

Faculty: Engineering and Technology

Abstract: The Energy Need to atypical house in Jordan is analyzed and presented. The energy needs by the house includes electrical load for lighting and appliances and the electricity for cooling and hot water for heating to satisfy comfort conditions for the space>Renewable Energy system PV wind and SWH are selected and Sized to meet the energy requirements for house >Its found that insolation of external walls does not change the cooling load of the buildings, however it reduce 30%of the heating loads .On the other hand insulating the roof of the house significantly reduce the heating and cooling load of 70 % and 20% respectively Furthermore the effect if zoning is investigated and presented. It found splitting the house into two zones based on occupation time will significantly reduce the size of the RES needed to meet the requirements

Keywords: RES,PV,SWH,Wind,Thermal Comfort,Heating and Cooling Loads

Research Title: Wavelet Entropy Algorithm to Allocate the Extreme Power Peaks in WiMax Systems

Author: Qadri Jamal Al-Hamarsheh, Published Year: 2014

International Journal of interactive Mobile Technologies, 8

Faculty: Engineering and Technology

Abstract: This work proposes a solution to overcome the effect for one of the main drawbacks of these days’ wireless systems, where Multiple-Input Multiple-Output (MIMO)-Orthogonal Frequency Division Multiplexing (OFDM) combinations has been used. High peak-to-average power ratio (PAPR) arises after the OFDM stage and reduces the performance of the used nonlinear devices. Therefore, a new stage has been imposed between the MIMO and OFDM block. It is based on the entropy meaning of the wavelet transformation to trigger a proposed thresholding criterion and reconstruct the OFDM signal. As a result, the probability of high PAPR appearance will be limited and reduced; a promising result over our recently published work has been conducted; 15-25% extra reduction. This work could be denoted by MIMO-OFDM based on Entropy Wavelet Transform (MO-EWT) systems. The MO-EWT validity has been checked based on either numerical analysis or conducted simulation based on MATLAB; where 80% improvement of reducing the high PAPR has been achieved over the literature. These results have been reached using the same environment conditions and at additional cost and complexity of the transceivers structure

Keywords: Thresholding, Wavelet Entropy, MIMO, OFDM, PAPR