A new methodology of mobile robot navigation : The agoraphilic algorithm
- Authors: McFetridge, Lachlan , Ibrahim, Yousef
- Date: 2009
- Type: Text , Journal article
- Relation: Robotics and Computer-Integrated Manufacturing Vol. 25, no. 3 (2009 2009), p. 545-551
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- Description: The Agoraphilic algorithm is an optimistic approach to reactive path planning for mobile robot platforms. The technique uses virtual, attractive forces derived from the surrounding free space. Fuzzy logic is utilised to limit the ‘free-space’ force so as to promote the movement towards the goal. The algorithm was designed to be a robust technique for reactive navigation that could be implemented without the fuss of tuning the sensitive parameters required for other classical navigation routines. Several simulations plus some preliminary experimental results are presented here to demonstrate the algorithm's potential.
New control concept for a gantry tractor comprising a 'chorus line' of synchronized modules
- Authors: Ibrahim, Yousef , Spark, Ian , Percy, Andrew
- Date: 2010
- Type: Text , Journal article
- Relation: IEEE Transactions on Industrial Electronics Vol. 57, no. 2 (2010), p. 762-768
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- Description: A new method of automatically maneuvering a gantry tractor through right-angle turns, U-turns, and narrow gates is described in this paper. In order to maximize traction and maneuverability, both the wheel-angle steering effect and the drive-wheel-speed steering effect are integrated. This technique produces identical and cooperative redundant steering systems. The necessary wheel angles and drive wheel speed have been simulated. The advantage of cooperative redundancy is that when any steering system begins to fail, it is reinforced by the other steering system
New algorithms for navigating a gantry tractor comprising a 'chorus line' of synchronized modules
- Authors: Percy, Andrew , Spark, Ian , Ibrahim, Yousef
- Date: 2011
- Type: Text , Journal article
- Relation: IEEE Transactions on Industrial Electronics Vol. 58, no. 2 (2011), p. 398-402
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- Description: This paper presents two new algorithms for real-time calculation of the wheel angles and speeds of gantry tractor modules. In transport mode, the gantry tractor is, in a sense, a snakelike robot with passive joints and active wheels, with each module having autonomous four-wheel drive and four-wheel steering. The algorithms determine the wheel angles and speeds of each module with the prescription that the four wheels will have the same center of curvature, wheel speeds provide cooperative redundancy, and all hitching points follow the same path, thereby eliminating scuffing and minimizing off-tracking. Details of the analytical algorithm for a predetermined path were presented at the 2009 IEEE International Conference on Industrial Technology, together with a simulation for a single module. In this paper, we also present the results of a newly developed numerical algorithm which enables the gantry tractor to be steered online by an operator. We also show, by simulation, that this new numerical algorithm gives a good approximation to analytical solutions. The numerical algorithm is then used to calculate wheel angles and speeds for a three-module tractor with the results depicted graphically as functions of time.
Flexible autonomous behaviors of kinesin and muscle myosin bio-nanorobots
- Authors: Khataee, H. , Ibrahim, Yousef , Liew, We-Chung
- Date: 2013
- Type: Text , Journal article
- Relation: IEEE Transactions on Industrial Electronics Vol. 60, no. 11 (2013), p. 5116-5123
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- Description: Kinesin and muscle myosin are considered as physical bio-nanoagents able to sense their cells through their sensors, make decision internally, and perform actions through their actuators. This paper has investigated and compared the flexible (reactive, pro-active, and interactive) autonomous behaviors of kinesin and muscle myosin bio-nanorobots. Using an automata algorithm, the agent-based deterministic finite automaton models of the internal decision making processes of the bio-nanorobots (as their reactive and pro-active capabilities) were converted to their respective computational regular languages (as their interactive capabilities). The resulted computational languages could represent the flexible autonomous behaviors of the bio-nanorobots. The proposed regular languages also reflected the degree of the autonomy and intelligence of internal decision-making processes of the bio-nanorobots in response to their environments. The comparison of flexible autonomous behaviors of kinesin and muscle myosin bio-nanorobots indicated that both bio-nanorobots employed regular languages to interact with their environments through two sensors and one actuator. Moreover, the results showed that kinesin bio-nanorobot used a more complex regular language to interact with its environment compared with muscle myosin bio-nanorobot. Therefore, our results have revealed that the flexible autonomous behavior of kinesin bio-nanorobot was more complicated than the flexible autonomous behavior of muscle myosin bio-nanorobot.
Financial view and profitability evaluation on multistate weighted k-out-of-n:F system reliability
- Authors: Khorshidi, Hadi , Gunawan, Indra , Ibrahim, Yousef
- Date: 2014
- Type: Text , Journal article
- Relation: International Journal of Reliability and Safety Vol. 8, no. 2-4 (2014), p. 284-298
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- Description: A financial view is proposed for reliability evaluation of multi-state weighted k-out-of-n:F systems. Failure cost as the cost which is imposed on the components by failures is used to denote the importance weight of each component. The deterioration process of components over time is modelled by Markov chain. System failure behaviour is formulated by Universal Generating Function (UGF). Furthermore, the present value of system failure is calculated by considering time value of money. As a result, the system reliability is demonstrated as cost which is more sensible for managers. A numerical example is presented to illustrate the proposed approach. After that, a way is suggested to transform the system cost present value into system reliability value. MATLAB programming is developed to make a sensitivity analysis on example results. Therefore, the impact of maintenance activities is investigated to show how they can reduce system cost through improving the system reliability. Copyright © 2014 Inderscience Enterprises Ltd.
Notes on feasibility and optimality conditions of small-scale multifunction robotic cell scheduling problems with pickup restrictions
- Authors: Foumani, Mehdi , Gunawan, Indra , Smith-Miles, Kate , Ibrahim, Yousef
- Date: 2015
- Type: Text , Journal article
- Relation: IEEE Transactions on Industrial Informatics Vol. 11, no. 3 (2015), p. 821-829
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- Description: Optimization of robotic workcells is a growing concern in automated manufacturing systems. This study develops a methodology to maximize the production rate of a multifunction robot (MFR) operating within a rotationally arranged robotic cell. An MFR is able to perform additional special operations while in transit between transferring parts from adjacent processing stages. Considering the free-pickup scenario, the cycle time formulas are initially developed for small-scale cells where an MFR interacts with either two or three machines. A methodology for finding the optimality regions of all possible permutations is presented. The results are then extended to the no-wait pickup scenario in which all parts must be processed from the input hopper to the output hopper, without any interruption either on or between machines. This analysis enables insightful evaluation of the productivity improvements of MFRs in real-life robotized workcells. ©2014 IEEE.
Data-Driven System Reliability and Failure Behavior Modeling Using FMECA
- Authors: Khorshidi, Hadi , Gunawan, Indra , Ibrahim, Yousef
- Date: 2016
- Type: Text , Journal article
- Relation: IEEE Transactions on Industrial Informatics Vol. 12, no. 3 (2016), p. 1253-1260
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- Description: System reliability modeling needs a large amount of data to estimate the parameters. In addition, reliability estimation is associated with uncertainty. This paper aims to propose a new method to evaluate the failure behavior and reliability of a large system using failure modes, effects, and criticality analysis (FMECA). Therefore, qualitative data based on the judgment of experts are used when data are not sufficient. The subjective data of failure modes and causes have been aggregated through the system to develop an overall failure index (OFI). This index not only represents the system reliability behavior, but also prioritizes corrective actions based on improvements in system failure. In addition, two optimization models are presented to select optimal actions subject to budget constraint. The associated costs of each corrective action are considered in risk evaluation. Finally, a case study of a manufacturing line is introduced to verify the applicability of the proposed method in industrial environments. The proposed method is compared with conventional FMECA approach. It is shown that the proposed method has a better performance in risk assessment. A sensitivity analysis is provided on the budget amount and the results are discussed. © 2015 IEEE.
Development of flexible haptic forceps based on the electrohydraulic transmission system
- Authors: Ogawa, Kenji , Ibrahim, Yousef , Ohnishi, Kouhei
- Date: 2018
- Type: Text , Journal article
- Relation: IEEE Transactions on Industrial Informatics Vol. 14, no. 12 (2018), p. 5256-5267
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- Description: Minimally invasive surgery (MIS) has many benefits, e.g., unnecessary trauma and blood loss can be minimized by opening tiny surgery scars, recovery process of patients can be lessened, and the possibilities of complications can be decreased. The natural orifice transluminal surgery (NOTES) is one of the MIS surgical methodologies. NOTES surgery is performed using an endoscope. This methodology does not rely on making holes to patients' body to insert the medical instruments. Although some medical robots for NOTES have been proposed, current robots mainly suffer from the absence/limitation of haptic feedback to the surgeon's hands. In order to overcome this problem, this paper proposes electro hydraulic transmission system (EHTS) based forceps. The EHTS is a remote actuation system using fluid energy. By using the EHTS, the classical position and force transmission losses will not be influenced by the tube's shape. The validity of the proposal and its advantages have been experimentally verified and presented in this paper.
Development of flexible haptic forceps based on the electrohydraulic transmission system
- Authors: Ogawa, Kenji , Ibrahim, Yousef , Ohnishi, Kouhei
- Date: 2018
- Type: Text , Journal article
- Relation: IEEE Transactions on Industrial Informatics Vol. 14, no. 12 (2018), p. 5256-5267
- Full Text: false
- Reviewed:
- Description: Minimally invasive surgery (MIS) has many benefits, e.g., unnecessary trauma and blood loss can be minimized by opening tiny surgery scars, recovery process of patients can be lessened, and the possibilities of complications can be decreased. The natural orifice transluminal surgery (NOTES) is one of the MIS surgical methodologies. NOTES surgery is performed using an endoscope. This methodology does not rely on making holes to patients' body to insert the medical instruments. Although some medical robots for NOTES have been proposed, current robots mainly suffer from the absence/limitation of haptic feedback to the surgeon's hands. In order to overcome this problem, this paper proposes electro hydraulic transmission system (EHTS) based forceps. The EHTS is a remote actuation system using fluid energy. By using the EHTS, the classical position and force transmission losses will not be influenced by the tube's shape. The validity of the proposal and its advantages have been experimentally verified and presented in this paper.
Fuzzy logic and gradient descent-based optimal adaptive robust controller with inverted pendulum verification
- Authors: Hadipour Lakmesari, S. , Mahmoodabadi, M. , Ibrahim, Yousef
- Date: 2021
- Type: Text , Journal article
- Relation: Chaos, Solitons and Fractals Vol. 151, no. (2021), p.
- Full Text: false
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- Description: This paper develops an adaptive robust combination of feedback linearization (FL) and sliding mode controller (SMC) based on fuzzy rules and gradient descent laws. The new suggested control algorithm is tested to stabilize a fourth-order under-actuated nonlinear inverted pendulum system. More precisely, the reliable feedback linearization approach and the robust SMC controller are combined to design a stable control effort. In order to enhance the performance of the suggested controller, an adaptation technique as long as fuzzy rules are applied to update the control gains and the boundary layer parameter. Then, a novel evolutionary algorithm termed multi-objective ant lion optimizer (MOALO) is implemented to determine the control coefficients. The analysis and results conducted on the inverted pendulum system demonstrate the desired performance of the proposed control scheme by providing an optimal smooth control input, suitable tracking performance, and proper time responses. © 2021 Elsevier Ltd