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Adaptive sliding-mode dynamic controller for nonholonomic mobile robots

- Amer, Ahmed, Sallam, Elsayed, Sultan, Ibrahim

  • Authors: Amer, Ahmed , Sallam, Elsayed , Sultan, Ibrahim
  • Date: 2016
  • Type: Text , Conference proceedings
  • Relation: ICENCO 2016 : 12th International Computer Engineering Conference (ICENCO) "Boundless smart societies" ; 2016, Egypt; 28th-29th Dec. 2016 p. 230-235
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  • Description: This paper presents a proposed adaptive technique for nonholonomic wheeled mobile robot (NWMR) using the sliding-mode control (SMC) method. The proposed control system based on the backstepping kinematic controller and PI sliding mode dynamic control. With an adaptive fuzzy logic to adjust adaptation gain of SMC for trajectory tracking control of nonholonomic mobile robot. Parametric and nonparametric uncertainties of mobile robot can be solved by using the proposed control which take advantages of stability and robustness in sliding mode control. The adaptation gain of SMC is adjusted by using Mamdani type inference system with adaptive tuning algorithm, which improves the adaptability for uncertainness and eliminate input chattering of the SMC. The stability and convergence of the control system are proved using Lypanouve criteria, and the comparison of the proposed controller with the other controllers ensures the validity and superiority of my own controller

On the kinematics and synthesis of a geared five-bar slider-crank mechanism

- Sultan, Ibrahim, Kalim, Azfar

  • Authors: Sultan, Ibrahim , Kalim, Azfar
  • Date: 2011
  • Type: Text , Journal article
  • Relation: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science Vol. 225, no. 5 (2011), p. 1253-1261
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  • Description: The geared five-bar mechanism possesses kinematic abilities that qualify its utility in various industrial applications. Small changes to the mechanism topology or dimensions create new designs with different motion characteristics. This article presents design-orientated kinematical insights and mathematical treatments for the embodiment of the mechanism in which the end gear is eccentrically pivoted to a sliding element. For its synthesis, a kinematic classification is introduced and approximate curves are used to guide the motion of the slider. A gradient-based Levenberg-Marquardt formulation is employed for the optimization procedure. Geometric, mobility, and dimensional constraints are utilized together with numerical position equations for the analysis. Two case studies are presented at the end of this article to highlight the versatility of the mechanism and prove the validity of the presented mathematical model.

Optimization of improved suspension system with inerter device of the quarter-car model in vibration analysis

- Kuznetsov, Alexey, Mammadov, Musa, Sultan, Ibrahim, Hajilarov, Eldar

  • Authors: Kuznetsov, Alexey , Mammadov, Musa , Sultan, Ibrahim , Hajilarov, Eldar
  • Date: 2011
  • Type: Text , Journal article
  • Relation: Archive of Applied Mechanics Vol. 81, no. 10 (2011), p. 1427-1437
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  • Description: In this paper, we analyze an improved suspension system with the incorporated inerter device of the quarter-car model to obtain optimal design parameters for maximum comfort level for a driver and passengers. That is achieved by finding the analytical solution for the system of ordinary differential equations, which enables us to generate an optimization problem whose objective function is based on the international standards of admissible acceleration levels (ISO 2631-1, Mechanical Vibration and Shock-Evaluation of Human Exposure to Whole-Body Vibration-Part 1, 1997). The considered approach ensures the highest level of comfort for the driver and passengers due to a favorable reduction in body vibrations. Numerical examples, based on actually measured road profiles, are presented at the end of the paper to prove the validity of the proposed approach and its suitability for the problem at hand. © 2010 Springer-Verlag.

Framework for sustainability performance assessment for manufacturing processes- A Review

- Singh, Karmjit, Sultan, Ibrahim

  • Authors: Singh, Karmjit , Sultan, Ibrahim
  • Date: 2017
  • Type: Text , Conference proceedings
  • Relation: IOP Conference Series: Earth and Environmental Science, Volume 73; International Conference on Sustainable Energy Engineering 12–14 June 2017; Perth, Australia Vol. 73
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  • Description: Manufacturing industries are facing tough competition due to increasing raw material cost and depleting natural resources. There is great pressure on the industry to produce environmental friendly products using environmental friendly processes. To address these issues modern manufacturing industries are focusing on sustainable manufacturing. To develop more sustainable societies, industries need to better understand how to respond to environmental, economic and social challenges. This paper proposed some framework and tools that accelerate the transition towards a sustainable system. The developed framework will be beneficial for sustainability assessment comparing different plans alongside material properties, ultimately helping the manufacturing industries to reduce the carbon emissions and material waste, besides improving energy efficiency. It is expected that this would be highly beneficial for determination of environmental impact of a process at early design stages. Therefore, it would greatly help the manufacturing industries for selection of process plan based on sustainable indices. Overall objective of this paper would have good impact on reducing air emissions and protecting environment. We expect this work to contribute to the development of a standard reference methodology to help further sustainability in the manufacturing sector.

On the apex seal analysis of limaçon positive displacement machines

- Phung, Truong, Sultan, Ibrahim, Appuhamillage, Gayan

  • Authors: Phung, Truong , Sultan, Ibrahim , Appuhamillage, Gayan
  • Date: 2018
  • Type: Text , Journal article
  • Relation: Mechanism and Machine Theory Vol. 127, no. (2018), p. 126-145
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  • Description: Rotary machines, and limaçon machines in particular, offer a better power to weight ratio compared to reciprocating machines; however, leakage due to improper apex and side sealing have prevented rotary machines from thriving. In this paper, a modelling approach is presented to analyse the vibration of apex seal during the machine operation and the power loss caused by the seal friction. The seal and spring are modelled as a spring-mass system in which the seal deformation is negligible. The seal-groove relative positions have then been categorised into nine different possible cases based on the number of contact points between the seal and the seal groove. A case study has been presented to demonstrate the reliability of the model.

Characterization of limacon gas expanders with consideration to the dynamics of apex seals and inlet control valve

- Phung, Truong, Sultan, Ibrahim

  • Authors: Phung, Truong , Sultan, Ibrahim
  • Date: 2018
  • Type: Text , Journal article
  • Relation: Journal of Engineering for Gas Turbines and Power Vol. 140, no. 12 (2018), p. 1-11
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  • Description: Limacon machine, of which the relative motion between the rotor and housing follows the limacon curve, belongs to a class of rotary positive displacement machines. The profiles of rotors and housings of those machines can be constructed of either limacon or circular curves, hence the names: limacon-to-limacon, circolimacon, and limacon-to-circular machines. This paper presents the investigation into the thermodynamic performance of the limacon-to-circular machines with the presence of apex seals and inlet valve. This paper sets out by briefly introducing the limacon technology and the construction of the limacon-to-circular machine working volume. The mathematical descriptions of ports positions and areas have also been introduced. The paper then discusses the flow and phase composition of working fluid through the working chambers as well as how the fluid velocity is modeled and calculated. Then the seal dynamic model and response of inlet valve are presented followed by the machine thermodynamic model. A case study has also been presented to show the responses of seals and inlet valve during the machine operation.

Pipeline slug flow dynamic load characterization

- Reda, Ahmed, Forbes, Gareth, Sultan, Ibrahim, Howard, Ian

  • Authors: Reda, Ahmed , Forbes, Gareth , Sultan, Ibrahim , Howard, Ian
  • Date: 2019
  • Type: Text , Journal article
  • Relation: Journal of Offshore Mechanics and Arctic Engineering Vol. 141, no. 1 (2019), p. 1-8
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  • Description: Flow of gas in pipelines is subject to thermodynamic conditions which produces twophase bulks (i.e., slugs) within the axial pipeline flow. These moving slugs apply a moving load on the free spanning pipe sections, which consequently undergo variable bending stresses, and flexural deflections. Both the maximum pipeline stress and deflection due to the slug flow loads need to be understood in the design of pipeline spans. However, calculation of a moving mass on a free spanning pipeline is not trivial and the required mathematical model is burdensome for general pipeline design engineering. The work in this paper is intended to investigate the conditions under which simplified analysis would produce a safe pipeline design which can be used by practicing pipeline design engineers. The simulated finite element models presented here prove that replacing the moving mass of the slug by a moving force will produce adequately accurate results at low speeds where the mass of the slug is much smaller than the mass of the pipe section. This result is significant, as the assumption of point load simplifies the analysis to a considerable extent. Since most applications fall within the speed and mass ratio which justify employing this simplified analysis, the work presented here offers a powerful design tool to estimate fatigue stresses and lateral deflections without the need of expensive timeconsuming inputs from specialized practitioners.

Simplified theodolite calibration for robot metrology

- Sultan, Ibrahim, Wager, John

  • Authors: Sultan, Ibrahim , Wager, John
  • Date: 2002
  • Type: Text , Journal article
  • Relation: Advanced Robotics Vol. 16, no. 7 (2002), p. 653-671
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  • Description: Theodolites represent a well-established three-dimensional-point-measuring technology. However, when used for robot applications they have to be properly calibrated to fulfil the necessary accuracy requirements. The theodolite calibration methods reported in the literature involve the use of costly sophisticated equipment not easily available to most users. Therefore, a new simplified calibration technique is presented based on the use of a graduated precision bar suspended freely to align with the vertical direction. To develop efficient mathematical models, the theodolites will be regarded as 2R open-ended mechanisms with the end-effector axis directed along the line of sight. The proposed models are then coded in a computer program designed to verify the validity of the technique presented. The simulation results will be presented at the end of the paper.
  • Description: 2003000163

Improving reciprocating compressor performance using a hybrid two-level optimisation approach

- Sultan, Ibrahim, Kalim, Azfar

  • Authors: Sultan, Ibrahim , Kalim, Azfar
  • Date: 2011
  • Type: Text , Journal article
  • Relation: Engineering Computations (Swansea, Wales) Vol. 28, no. 5 (2011), p. 616-636
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  • Description: Purpose - This paper seeks to describe a design approach which can be used to manufacture better-performing reciprocating compressors. This design approach relates the drive kinematic characteristics to the thermodynamic performance of the compressor. Design/methodology/approach - The presented approach is based on employing a stochastic optimisation algorithm to find the best piston trajectory within one cycle of operation and couple that with a gradient-based technique to find the best dimensions of the mechanism which can realise this trajectory. Findings - The mathematical models presented to implement the proposed design approach have been coded in a computer program which has been employed for simulation purposes. A case study given at the end of the paper asserts the usefulness of the proposed method and proves that a few percentage points increase in a defined set of performance indices has been gained from the optimisation exercise. Research limitations/implications - The presented models are only relevant to reciprocating compressors. Practical implications - The promising results obtained in this paper will lead to the creation of better performing and more reliable compressor drives, designed to fulfil a set of desired performance criteria. Originality/value - The paper offers originality in two different aspects. The mechanism design process has been undertaken in full consideration to the thermodynamic performance of the compressor; and the coupling of the stochastic and the gradient-based optimisation methods to produce the desired outcome. © 2011 Emerald Group Publishing Limited. All rights reserved.

Information and computational modeling for sustainability evaluation and improvement of manufacturing processes

- Singh, Karmjit, Sultan, Ibrahim

  • Authors: Singh, Karmjit , Sultan, Ibrahim
  • Date: 2020
  • Type: Text , Book chapter
  • Relation: Additive and Subtractive Manufacturing: Emergent Technologies. Chapter 8 p. 271-288
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  • Description: Over the last few decades, manufacturing industries are working toward sustainable manufacturing due to the high cost of raw material and depletion of natural resources. There is also a great concern for manufacturing companies to produce products by considering three aspects of sustainability, that is, economic, environmental, and social. This pressure has motivated modern manufacturing industries to, commit to, adopt the ethos and methods of sustainable manufacturing. An outcome is manifested by the current undertakings of many research projects that are designed to propose automated systems for determination of CO2 emissions, solid waste, and energy consumption of various manufacturing plants. An effort for developing a generic model for different manufacturing processes, graphic user interface system, is presented in this chapter. The chapter presents detailed discussions of the proposed models for two different manufacturing processes. Sustainability analysis case studies, based on the models developed, are presented for die-casting, injection molding, and turning processes. It will be shown that the developed models are effective for sustainability assessment process and have the potential of helping the manufacturing companies. Moreover, the work presented is highly beneficial in determining the sustainability assessment of a manufacturing process at the beginning of product design. An overarching motive of this chapter is to reduce emissions from energy production into atmosphere and alleviate impact on the environment. © 2019 Walter de Gruyter GmbH, Berlin/Boston.

Vibration analysis : Optimization of parameters of the two mass model based on Kelvin elements

- Kuznetsov, Alexey, Mammadov, Musa, Sultan, Ibrahim, Hajilarov, Eldar

Modelling and evaluation of KPIs for the assessment of sustainable manufacturing : An extrusion process case study

- Singh, Karmjit, Sultan, Ibrahim

  • Authors: Singh, Karmjit , Sultan, Ibrahim
  • Date: 2018
  • Type: Text , Conference paper
  • Relation: 7th International Conference of Materials Processing and Characterization, ICMPC 2017; Hyderabad, India; 17th-19th March 2017; published in Materials Today: Proceedings Vol. 5, p. 3825-3834
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  • Description: Manufacturing industries today are focusing on controlling negative environmental impacts, reducing cost, conserving energy and natural resources while producing new products through various methods and tools of Sustainable manufacturing assessment. This paper proposes science-based guidelines for modeling and evaluation of key performance indicators (KPIs) in an aluminium extrusion process. The proposed methodology consists of the following main components: 1) identification of key performance indicators 2) classification of manufacturing processes on the basis of KPIs 3) evaluation of key performance indicators. We discuss in detail the steps of the proposed indicators for aluminium extrusion process. The proposed indicators also contribute towards the development of standard reference methodology to help further sustainability in the manufacturing industries. In this paper we propose science-based guidelines, which can be used to determine key performance indicators, namely energy consumption, solid waste and carbon emissions of an aluminium extrusion process. The proposed methodology has been verified with actual shop floor data obtained from the industry.

Characterisation of slug flow conditions in pipelines for fatigue analysis

- Reda, Ahmed, Forbes, Gareth, Sultan, Ibrahim

  • Authors: Reda, Ahmed , Forbes, Gareth , Sultan, Ibrahim
  • Date: 2011
  • Type: Text , Conference proceedings
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  • Description: Understanding the problem of slug flow induced fatigue damage is of particular importance to the reliable operation of pipelines. Slug flow across unsupported pipeline spans, pipeline crossings or vertical engineered buckle initiators, i.e. sleepers, produces dynamic motion in the pipeline resulting in cyclic fatigue stresses. In some cases, the dynamic effects will cause the pipeline to fail at a point of stress concentration. In other cases, however, these effects may be negligible. The current literature provides no guidance as to when the dynamic effects of slug flow must be considered. This paper gives guidance and describes how fatigue due to slug flow in pipelines, which would normally require dynamic analysis, can be quantified using simplified quasi-static analysis. The paper also presents a design process which could be used by pipeline engineers to determine the level of analysis needed, before embarking on more complex and expensive dynamic finite element. Copyright © 2011 by ASME.

Pipeline walking and anchoring considerations in the presence of riser motion and inclined seabed

- Reda, Ahmed, Sultan, Ibrahim, Howard, Ian, Forbes, Gareth, McKee, Kristoffer

  • Authors: Reda, Ahmed , Sultan, Ibrahim , Howard, Ian , Forbes, Gareth , McKee, Kristoffer
  • Date: 2018
  • Type: Text , Journal article
  • Relation: International Journal of Pressure Vessels and Piping Vol. 162, no. (2018), p. 71-85
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  • Description: Steel Catenary Risers (SCRs), are increasingly becoming an attractive option for many deepwater field developments. SCRs are typically used to transport fluids between floating production vessels and pipelines. Typical uses may also involve the transport of produced fluids from a subsea production system to a floating production vessel or the transport of gas or water for re-injection into the producing reservoirs. The floating production vessel on which the steel catenary riser is supported will be subject to motions caused by environmental loads, and influenced by the mooring system and other risers. Horizontal movement of the vessel causes changes in the riser catenary configuration in near, mean, and far positions. On the seabed, the riser is connected to a pipeline that extends for some distance from the riser touchdown point, to its tie-in point on a pipeline or other facility. Effective tension at the touchdown point is necessary to maintain the riser configuration which may cause the pipeline to walk in the axial direction. The development of axial walking is in part due to the pull experienced on the pipeline at the touchdown point from the SCR tension. In this paper, the results of the effective axial force and the pipeline end expansion using a finite element study are presented to highlight the effect that the changing SCR tension, combined with the thermal transients and a global seabed slope along the pipeline length, has on the pipeline walking. Additionally, the paper provides some guidance in regards to the selection of the optimum location for the hold-back anchors, to ensure that pipeline walking does not compromise the integrity of both the SCR and the pipeline system. In general, the results show that SCR bottom tension provides the dominant walking mechanism and can exceed the other walking mechanisms associated with thermal transients and seabed slope. For a straight short pipeline, in the range of 2–3 km, where there is no lateral buckling, it is recommended to install the anchor towards the PLET (Pipeline End Termination) and away from the SCR transition point.

Characterization of dynamic slug flow induced loads in pipelines

- Reda, Ahmed, Forbes, Gareth, Sultan, Ibrahim

  • Authors: Reda, Ahmed , Forbes, Gareth , Sultan, Ibrahim
  • Date: 2012
  • Type: Text , Conference proceedings
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  • Description: The flow of a liquid mass, i.e. a 'slug', inside thin-walled spanning pipelines, produces a lateral traversing force. This moving force initiates dynamic stresses within the structure and is often critical when assessing structural fatigue. Moving slugs in spanning pipelines may be modeled as either a moving concentrated force or a moving mass when investigating the vibration response of the pipeline under the passage of a slug flow. The moving concentrated force model only yields accurate results when the mass of the slug is small in relation to that of the pipeline; although, the moving mass model should be used instead when the slug's mass cannot be regarded as small in relation to the mass of the pipeline. The modeling of a moving concentrated force is much more readily implemented than that of a moving mass. Thus, the aim of this paper is to identify those situations where the simplification of considering a moving concentrated force can be made, or indeed if dynamic analysis is even required. Results are given in this paper to quantify when the two modeling techniques begin to differ significantly. It is intended that this paper will assist pipeline engineers discriminate between which appropriate conditions to use for either of the two different models of a traversing concentrated force/mass over a structure. Copyright © 2012 by ASME.
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A numerical solution for determinantal polynomials with application to robot kinematics

- Sultan, Ibrahim

A novel in-vehicle real-time brake-monitoring system

- Fumi, Duncan, Sultan, Ibrahim

  • Authors: Fumi, Duncan , Sultan, Ibrahim
  • Date: 2009
  • Type: Text , Journal article
  • Relation: Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering Vol. 223, no. 6 (2009), p. 793-804
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  • Description: The design of vehicle brake systems involves optimizing a large number of competing parameters. In order to find an appropriate balance of properties, it is important to have a good picture of the range of operating conditions that the system will operate under. Obtaining such information for a large range of driving conditions requires recording data over a long period of time from a number of vehicles under various driving conditions. In this paper, a proposed data acquisition system has been designed, constructed, and implemented to measure and to store in real time the performance-related parameters of brake systems. The system proposed here to monitor brake performance employs a small embedded personal computer together with a number of peripheral cards as its basis. As a part of the validation process, recordings have been made of some long-term test sequences during a brake development programme. The results, which would be considered representative of normal confident driving, are given and discussed at the end of the paper. These results are used to monitor brake performance and do offer valuable guidance for future brake design projects. © IMechE 2009.

Sustainable manufacturing modelling : a case for milling process

- Singh, Karmjit, Sultan, Ibrahim

  • Authors: Singh, Karmjit , Sultan, Ibrahim
  • Date: 2019
  • Type: Text , Journal article
  • Relation: International Journal of Materials, Mechanics and Manufacturing Vol. 7, no. 1 (2019), p. 46-50
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  • Description: In manufacturing industries, metal machining is very important process due to the competitiveness. Every manufacturer needs quick, effective and optimized processes. The experience of the operator plays a major role, but even for a skilled operator it is very difficult to attain the optimum values each time. Sustainability Analysis has attracted growing interests from industry, as an optimum cost estimation system analysis method, and energy consumption progress has been achieved. In this work, scrap production as well as production lead time have to be reduced and machining cost per kg of material is target. To reduce the cost, energy consumption and material wastage impact of the milling process worldwide many aspects of the process are investigated. In the present work, a system has been proposed, which can be used to determine various components of Sustainability analysis of milling process.

Introducing differential kinematics to mechanical engineering students

- Sultan, Ibrahim

  • Authors: Sultan, Ibrahim
  • Date: 2009
  • Type: Text , Journal article
  • Relation: International Journal of Mechanical Engineering Education Vol. 37, no. 3 (2009), p. 210-222
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  • Description: Differential kinematics offers a simplified alternative to closed-form input-output equations needed to study the geometrical behaviour of linkages. For most linkages, these closed-form equations are either too messy or not possible to obtain, a fact that sometimes reflects negatively on how mechanical engineering students perceive the subject of mechanism analysis. On the other hand, differential models can easily be utilised in numerical methods designed to encourage these students to tackle even more difficult problems than currently being considered in academic programmes. In this paper, an approach is presented to facilitate this process. The mathematical procedure is based on the use of matrices referred to as kinematic Jacobians. The determinants of these matrices offer invaluable insights into the linkage mobility. These matrices are explained and used in a practice numerical example.
  • Description: 2003008219

A study on the use of machine learning methods to improve reciprocating compressor reliability via torque tailoring

- Lu, Kui, Sultan, Ibrahim, Phung, Truong

  • Authors: Lu, Kui , Sultan, Ibrahim , Phung, Truong
  • Date: 2021
  • Type: Text , Conference paper
  • Relation: 2021 International Conference on Maintenance and Intelligent Asset Management, ICMIAM 2021, Ballarat, Australia, 12-15 December 2021, 2021 International Conference on Maintenance and Intelligent Asset Management, ICMIAM 2021
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  • Description: Reciprocating compressors have found popularity in applications where compressed air is required at high pressure levels with moderate flow rates. The mechanical drives used for these compressors are based on the traditional slider-crank linkage which, despite its simplicity, does not lend itself to optimization effort aimed at improving the compressor reliability and performance. The work presented in this paper adopts the notion that the mechanical reliability of the compressor drive is limited by the level and cyclical variability of the loads transmitted through its members and the effectiveness of its cooling system. In the paper, machine learning methods will be employed to craft an objective function suitable to use in a Bayesian optimization effort undertaken to produce a more reliable compressor drive. A numerical example is presented to prove the validity of the presented method and its suitability for use in real life compressor designs. © 2021 IEEE.