Research Title: The extension of the scope of genetic-morphological approach to the kinematics of cutting

Author: Hasan Abdel-Razzaq Al Dabbas, Published Year: 2013

Herson Conference , Herson

Faculty: Engineering and Technology

Abstract: The motion transmitted by a machine to both a tool and a workpiece being shaped, can be expressed by means of the fundamental kinematic cutting schemes [1, 8, 9 ]. As per the conventional fundamental kinematic cutting scheme, the movement of cutting elements of the tool relative to the surfaces of the workpiece being cut follows a path relative to working motion at speeds, predetermined by relations: the tool (T)–the workpiece (D).

Keywords: Cutting Edges,Tool Relative ,kinematic cutting

Research Title: Static And Dynamic Analysis Of Bevel Gear Set

Author: Hasan Abdel-Razzaq Al Dabbas, Published Year: 2017

Journal of Mechanical and Civil Engineering (IOSR-JMCE), Volume 14, Issue 5 V

Faculty: Engineering and Technology

Abstract: Abstract: This paper presents a static and dynamic simulation and analysis of the bevel gear set using Solidworks software, stress, strain, deformation, reactions and torque are calculated. Dimensions and materials of the bevel gears are important factors in determining the values of stress, strain, and displacement. The change in angular velocity and torque applied also change the values of stress, strain, and displacement of the bevel gear.

Keywords: Bevel gears, static, dynamic, stress, strain, deformation, solidworks

Research Title: FABRICATION OF STIR CASTING FURNACE AND PRODUCTION OF METAL MATRIX COMPOSITES

Author: Hasan Abdel-Razzaq Al Dabbas, Published Year: 2016

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Faculty: Engineering and Technology

Abstract: ABSTRACT- The fabrication of Metal Matrix Composites (MMCs) using the stir casting technique is the focus of this study. A significant part of the work consists of the design of a specialized rig for this high temperature processing method. Following preliminary tests, graphite is chosen as the crucible material in which melting of the molten metal takes place. Al 6061 is chosen as the matrix material and SiC particles with mesh size 460 as the reinforcement material. In order to optimize stirring conditions, an externally operated motor driven stirrer is used to stimulate the fluid flow in the process crucible. The main research challenge was to solve the problem of poor wet ability between particulate SiC and molten aluminium, materials which are potentially suitable to the proposed fabrication approach as reinforcement and matrix materials respectively The percentages of SiC particles used are in the range of 2 to 4 weight percent, samples were cast into ingot or tensile specimen, It is found that increasing the silicon carbide content, increase the mechanical properties such as hardness and tensile strength of the matrix alloy. Characterization of the MMCs produced included observation of tensile strength, brinel hardness, and wear strength measurements. The fabrication approach is successful in producing cast MMCs samples which have reasonable mechanical properties. The use of clean SiC particles, magnesium as a wetting agent, and continuous stirring while the MMC slurry is solidifying were found to promote the wet ability of SiC and Al 6061 matrix alloy.

Keywords: Metal matrix composite, stir casting, wet ability, tensile wear, ageing, silicon carbide, yield strength, young’s modulus.

Research Title: Characteristics and Analysis for Mechanical Instrumentation Used to Measure Fluid Viscosity

Author: Hasan Abdel-Razzaq Al Dabbas, Published Year: 2016

Faculty: Engineering and Technology

Abstract: The task of development of the measurement procedure and the general-purpose control equipment which can allow us to analyze fluid rheological properties and to ascertain the dependence of the stress tensor of the sample on the deformation tensor over a wide range of strain rates is urgent nowadays. At the same time the question of providing the continuous inspection of the product properties under the condition of high precision and measuring automation is a matter of principle.

Keywords: viscosimeter, measuring automation

Research Title: Novel General Regression Neural Networks for Improving Control Accuracy of Nonlinear MIMO Discrete-Time Systems

Author: Ahmad Jobran Al-Mahasneh, Published Year: 2022

IEEE Transactions on Cybernetics,

Faculty: Engineering and Technology

Abstract: In this article, a novel version of the general regression neural network (Imp_GRNN) is developed to control a class of multiinput and multioutput (MIMO) nonlinear discrete-time (DT) systems. The improvements retain the features of the original GRNN along with a significant improvement of the control accuracy. The enhancements include developing a method to set the input-hidden weights of GRNN using the inputs recursive statistical means, introducing a new output layer and adaptable forward weighted connections from the inputs to the new layer, and suggesting an interval-type smoothing parameter to eradicate the need for selecting the parameter beforehand or adapting it online. Also, controller stability is studied using Lyapunov's method for DT systems. The controller performance is tested with different simulation examples and compared with the original GRNN to verify its superiority over it. Also, Imp_GRNN performance is compared with an adaptive radial basis function network controller, an adaptive feedforward neural-network (NN) controller, and a proportional-integral-derivative (PID) controller, where it demonstrated higher accuracy in comparison with them. In comparison with the formerly proposed control methods for MIMO DT systems, our controller is capable of producing high control accuracy while it is model free, does not require complex mathematics, has low computational complexity, and can be utilized for a wide range of DT dynamic systems. Also, it is one of the few methods that aims to improve the control system accuracy by improving the NN structure.

Keywords: Artificial neural networks, MIMO communication, Control systems, Adaptation models, Dynamical systems, Adaptive systems

Research Title: Online Model-Free Reinforcement Learning for Output Feedback Tracking Control of a Class of Discrete-time Systems with Input Saturation

Author: Ahmad Jobran Al-Mahasneh, Published Year: 2022

IEEE Access, 10

Faculty: Engineering and Technology

Abstract: In this paper, a new model-free Model-Actor (MA) reinforcement learning controller is developed for output feedback control of a class of discrete-time systems with input saturation constraints. The proposed controller is composed of two neural networks, namely a model-network and an actor network. The model-network is utilized to predict the output of the plant when a certain control action is applied to it. The actor network is utilized to estimate the optimal control action that is required to drive the output to the desired trajectory. The main advantages of the proposed controller over the previously proposed controllers are its ability to control systems in the absence of explicit knowledge of these systems’ dynamics and its ability to start learning from scratch without any offline training. Also, it can explicitly handle the control constraints in the controller design. Comparison results with a previously published reinforcement learning output feedback controller and other controllers confirm the superiority of the proposed controller.

Keywords: Reinforcement learning, adaptive control, nonlinear control, optimal control.

Research Title: Guidance, Navigation and Control System for Multi-Robot Network in Monitoring and Inspection Operations

Author: Ahmad Jobran Al-Mahasneh, Published Year: 2022

Drones , 6

Faculty: Engineering and Technology

Abstract: This work focuses on the challenges associated with autonomous robot guidance, navigation, and control in multi-robot systems. This study provides an affordable solution by utilizing a group of small unmanned ground vehicles and quadrotors that collaborate on monitoring and inspection missions. The proposed system utilizes a potential fields path planning algorithm to allow a robot to track a moving target while avoiding obstacles in a dynamic environment. To achieve the required performance and provide robust tracking against wind disturbances, a backstepping controller is used to solve the essential stability problem and ensure that each robot follows the specified path asymptotically. Furthermore, the performance is also compared with a proportional- integral-derivative (PID) controller to ensure the superiority of the control system. The system combines a low-cost inertial measurement unit (IMU), a GNSS receiver, and a barometer for UAVs to generate a navigation solution (position, velocity, and attitude estimations), which is then used in the guidance and control algorithms. A similar solution is used for UGVs by integrating the IMU, a GNSS receiver, and encoders. Non-linear complementary filters integrate the measurements in the navigation system to produce high bandwidth estimates of the state of each robotic platform. Experimental results of several scenarios are discussed to prove the effectiveness of the approach.

Keywords: backstepping controller; complementary filters; motion planner; navigation system; ground robot; aerial robot; inspection and monitoring

Research Title: A three-stage PSO-based methodology for tuning an optimal PD-controller for robotic arm manipulators

Author: Mustafa Awwad Al Khawaldeh, Published Year: 2022

Evolutionary Intelligence, 15

Faculty: Engineering and Technology

Abstract: Six degrees-of-freedom (DoF) robot manipulators are dynamically coupled and highly nonlinear multi-variable systems. Calculating the optimal joint angles from the operational space (i.e. inverse kinematics) and designing the optimal joint controller parameters are two important research topics. This paper proposes a 3-stage Particle Swarm Optimization (PSO)-based methodology for solving the inverse kinematics and optimizing the controller parameters. In the first stage, a PSO algorithm solves the inverse kinematics problem by minimizing a multi-objective cost function in the operational space (i.e. the error in the end-effector’s pose) and therefore finds the optimal joint angles. In the second stage, polynomial functions generate the desired trajectory between the initial and final poses in the joint space. Finally, a second PSO algorithm tunes six proportional-derivative (PD) controllers, one for each joint, to track the desired trajectory by minimizing another multi-objective cost function in the joint space. Two case studies, based on six DoF Puma 560, validate the performance of the proposed methodology. Simulation results show that the proposed 3-stage methodology provides fast and accurate results as the PSO algorithms are effective in solving the inverse kinematics problem and tuning the optimal PD parameters.

Keywords: Robot manipulator; Nonlinear dynamics; Optimization, PSO algorithm, Inverse kinematics, Trajectory tracking, PD-control, PUMA 560

Research Title: Macro-engineering Design for an Artificial Lake in Southeastern Jordan

Author: Mustafa Awwad Al Khawaldeh, Published Year: 2022

WSEAS TRANSACTIONS on ENVIRONMENT and DEVELOPMENT, 18

Faculty: Engineering and Technology

Abstract: Water situation in Jordan has become very critical. A feasible solution is to desalinate water drawn from Gulf of Aqaba (GoA). Another problem that Jordan faces is the very short coastline. These two problems can be solved by developing an artificial lake in south Jordan. The water from the lake can be desalinated while the lake itself provides a badly needed coastline. This work presents a macro-engineering design for the proposed lake; The proposed project is named "Red Sea-Jafer Basin Conduit (RSJBC)"; it involves a pipeline connecting GoA at the Red Sea with Jafer Basin (JB) in the south-eastern desert, where the topography of the region is exploited to develop an artificial Lake. Using multiple pumping stations, seawater will be pumped from GoA to JB though a 220 km long pipeline. After constructing the project, it will take three years to fill-up the Lake. Once it is filled, the pumping rate is reduced from 51 to 30 m3/s. However, based on fresh water needs, a volume of up to 21 m3/s can be desalinated. The suggested pipeline route has a curved path (CP) to avoid the mountains if it were to go straight path (SP). A comparison is conducted between CP and SP, where it was found that CP offers the lowest development cost for RSJBC, given fabric pipe is used. More specifically,a pipe diameter of 6 m enables total development cost of 2.74 B$, with corresponding annual operating cost of 306 M$.

Keywords: Artificial Lake, Jordan desert, Gulf of Aqaba, Jafer Basin, Water transport, Pumping station, Gravity flow, Seawater pipeline, Seawater pumping, Tourist attraction development.

Research Title: Obstacles Avoidance for Mobile Robot Using Type-2 Fuzzy Logic Controller

Author: Mustafa Awwad Al Khawaldeh, Published Year: 2022

Robotics, 11(6)

Faculty: Engineering and Technology

Abstract: Intelligent mobile robots need to deal with different kinds of uncertainties in order to perform their tasks, such as tracking predefined paths and avoiding static and dynamic obstacles until reaching their destination. In this research, a Robotino® from Festo Company was used to reach a predefined target in different scenarios, autonomously, in a static and dynamic environment. A Type-2 fuzzy logic controller was used to guide and help Robotino® reach its predefined destination safely. The Robotino® collects data from the environment. The rules of the Type-2 fuzzy logic controller were built from human experience. They controlled the Robotino® movement, guiding it toward its goal by controlling its linear and angular velocities, preventing it from colliding obstacles at the same time, as well. The Takagi–Sugeno–Kang (TSK) algorithm was implemented. Real-time and simulation experimental results showed the capability and effectiveness of the proposed controller, especially in dealing with uncertainty problems.

Keywords: mobile robot; Robotino®; static and dynamic obstacle-avoidance environment; Type-2 fuzzy logic controller; wireless sensor network