471
Research Title: Safe navigation and target recognition for a mobile robot using neural networks
Author: Mohammed Mahdi Ali, Published Year: 2017
2017 14th International Multi-Conference on Systems, Signals & Devices (SSD), Morocco
Faculty: Engineering and Technology

Abstract: Recently, there is a large demand on using mobile robots in different life applications. Thus, it is of importance to ensure mobile robot safe navigation towards its destination. In this research Robotino® from Festo company is used to confirm safe navigation issue along with red color target recognition using its IR and camera sensors respectively. Real-time and simulation experimental results have been obtained in laboratories of faculty of engineering / Philadelphia university / Jordan. Results were taken to train two multi-layers perceptron neural networks. One of them is used to force Robotino® moving towards its target by controlling its linear velocity, while the other one is used to move Robotino® avoiding any possible static or dynamic obstacle in its route. Matlab workspace is used for system analysis and design

Keywords: Safe navigation, Robotino, Neural Networks

472
Research Title: Obstacles avoidance for omnidirectional mobile robot using line trajectory adaptation
Author: Mohammed Mahdi Ali, Published Year: 2016
13th International Multi-Conference on Systems, Signals & Devices (SSD), Germany
Faculty: Engineering and Technology

Abstract: This paper presents an algorithm which is designed based on the adaptation of Straight-Line Equation parameters in order to detect and avoid both static and dynamic obstacles. A real-time measurement is collected making use of the already built-in nine infrared sensors along with the added ultrasonic sensor to increase the obstacle recognition range. The related control actions coming from the executing of the control algorithm are used to force the mobile robot movement through its three drive units to reach destination safely. This has been achieved by updating the required distance and orientation angle. The experimental results showed the effectiveness of the proposed algorithm in the sense of avoiding obstacles without collision and reaching the goal with minimum position error

Keywords: Mobile Robot, Robotino®, Obstacle Avoidance, line trajectory adaptation

473
Research Title: Path tracking control of a mobile robot using fuzzy logic
Author: Mohammed Mahdi Ali, Published Year: 2016
13th International Multi-Conference on Systems, Signals & Devices (SSD), Germany
Faculty: Engineering and Technology

Abstract: Recently, the study and development of the mobile robot is considered as a very important issue for many researchers. This is because the wide range of mobile robot applications in real life. One of the most important mobile robot tasks is the control of its navigation in tracking its predefined path. This also need a good capability in avoiding any static or dynamic obstacles that the mobile robot faces in its route until reaching its destination. The difficulty in finding a good mathematical model for the mobile robot used in this research "Robotino® from Festo company" made the decision to use fuzzy logic to design a controller capable to introduce a safe Robotino® navigation. Fuzzy logic controller needs information about Robotino® features and behavior in order to build its rule base which are inspired from human experience in such application. These rules can be easily programmed to bring out an efficient controller. Sugeno algorithm is implemented which the experiments results validated its efficiency. Fuzzy logic controller with 153-fuzzy rule is used for controlling the Robotino® path tracking issue, while another fuzzy logic controller with 27-fuzzy rule is applied for the Robotino® obstacle avoidance feature. Matlab is used as a tool to implement the two proposed fuzzy controllers. Many real-time experiments have been conducted in the Faculty of Engineering research laboratory at Philadelphia University. Results reflect the good abilities of the proposed controllers.

Keywords: Mobile Robot, Robotino®, Path Tracking, Obstacle Avoidance, Fuzzy Logic Controller.

474
Research Title: A simulation study of multi-disciplinary position control methods of robot arm D.C motor
Author: Mohammed Mahdi Ali, Published Year: 2016
13th International Multi-Conference on Systems, Signals & Devices (SSD), Germany
Faculty: Engineering and Technology

Abstract: This paper presents a simulation study using different control strategies to control the position of robot arm DC motor. Fixed field DC motor mathematical model is applied using certain parameters settings. A state feedback pole placement, Fuzzy Logic, Multi-Layer Perceptron (MLP) Neural Network, and the conventional PID control theories have been applied successfully. Matlab Simulink work space is used in the simulation. Almost the same controlled output responses are obtained with a different transient responses speed.

Keywords: PID, MLP NN, multi-disciplinary position control

475
Research Title: Robotino obstacles avoidance capability using infrared sensors
Author: Mohammed Mahdi Ali, Published Year: 2015
2015 IEEE Jordan Conference on Applied Electrical Engineering and Computing Technologies (AEECT), Jordan
Faculty: Engineering and Technology

Abstract: Most of the recent mobile robot researchers focus on obstacle avoidance and path tracking in unknown environment. This paper presents a new algorithm using Straight-Line Equation adaptation mechanism that makes Robotino reaching its destination accurately, also to enable it to detect and to avoid static or dynamic obstacles using nine infrared sensors. A brief Robotino dynamic description is discussed to help in understanding the proposed control algorithm. A detailed algorithm design procedure is evaluated. The simulation results showed the effectiveness of the proposed algorithm in the sense of avoiding obstacles without collision through Robotino predefined path.

Keywords: Robotino, Obstacles avoidance, infrared sensors

476
Research Title: Multi-robot system for real-time sensing and monitoring
Author: Mohammed Mahdi Ali, Published Year: 2014
15th International Workshop on Research and Education in Mechatronics (REM), 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 three mobile robots; main, 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 three 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

477
Research Title: Real-time monitoring and intelligent control for greenhouses based on wireless sensor network
Author: Mohammed Mahdi Ali, Published Year: 2014
11th International Multi-Conference 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.

478
Research Title: Maximum power point neuro-fuzzy tracker for photovoltaic arrays
Author: Mohammed Mahdi Ali, Published Year: 2011
Eighth International Multi-Conference on Systems, Signals & Devices, Tunisia
Faculty: Engineering and Technology

Abstract: Every photovoltaic (PV) array has unique point at which maximum power can be generated and extracted for different atmospheric conditions and output load. The maximum power point tracking is therefore critical for the success of PV arrays. All methods proposed earlier suffer from slow response; they oscillate around the maximum power point and ignoring the atmospheric conditions changing. This paper presents an intelligent method of maximum power point tracking for photovoltaic systems. It is based on tracking the maximum power point by monitoring the voltage and current of the solar array and adjusting the duty cycle of the PWM switching signal of a buck-boost DC/DC converter. Both conventional fuzzy logic controller and neuro-fuzzy controller are implemented to evaluate PV system performance. Functional neuro-fuzzy controller has advantages over that of fuzzy logic both in speed and generalization features. Obtained results show that the neuro-fuzzy controller can deal with different load and weather conditions and deliver more power from the photovoltaic systems.

Keywords: Photovoltaic System, Solar cells, Fuzzy logic, Neuro-fuzzy, Maximum power point tracking

479
Research Title: THE EFFECTS OF MOS LAYERS ON SENSING PROPERTIES OF MOS PHOTOSENSOR
Author: Mohammed Mahdi Ali, Published Year: 2013
INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS, 6, 3
Faculty: Engineering and Technology

Abstract: In this research work, many samples of metal –oxide –silicon photo sensors were laboratory prepared by thermal evaporation techniques. Some silicon samples were left in the air for a predefined time for SiO2 to grow naturally, while others were thermally coated with measured thickness of SiO. A number of the samples were coated with nickel while others with aluminum and one sample was coated with indium. Various tests and measurements were conducted; these include transmittance tests with a range of wavelength and for different thicknesses. The ideality factors of the samples and the potential barrier height were calculated from I-V and C-V characteristics. The photo generated current of the samples were also measured at photoconductive mode under reverse voltage. Quantum efficiency measurement indicated that native oxide samples provided higher quantum efficiency than those thermal

Keywords: Schottky Barrier Diode, Photo sensor, MOS Photo sensor, Silicon Photo sensor:

480
Research Title: Wheelchair Neuro Fuzzy Control and Tracking System Based on Voice Recognition
Author: Mohammed Mahdi Ali, Published Year: 2020
Sensors, 20, 10
Faculty: Engineering and Technology

Abstract: Autonomous wheelchairs are important tools to enhance the mobility of people with disabilities. Advances in computer and wireless communication technologies have contributed to the provision of smart wheelchairs to suit the needs of the disabled person. This research paper presents the design and implementation of a voice controlled electric wheelchair. This design is based on voice recognition algorithms to classify the required commands to drive the wheelchair. An adaptive neuro-fuzzy controller has been used to generate the required real-time control signals for actuating motors of the wheelchair. This controller depends on real data received from obstacle avoidance sensors and a voice recognition classifier. The wheelchair is considered as a node in a wireless sensor network in order to track the position of the wheelchair and for supervisory control. The simulated and running experiments demonstrate that, by combining the concepts of soft-computing and mechatronics, the implemented wheelchair has become more sophisticated and gives people more mobility.

Keywords: wheelchair control; voice recognition; autonomous wheelchair; ANFIS; V-REP; mechatronics