In this paper, a constrained, fault-tolerant, low-cost navigation system is proposed for ground v... more In this paper, a constrained, fault-tolerant, low-cost navigation system is proposed for ground vehicle׳s applications. The system is designed to provide a vehicle navigation solution at 50 Hz by fusing the measurements of the inertial measurement unit (IMU), the global positioning system (GPS) receiver, and the velocity measurement from wheel encoders. A high-integrity estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes vehicle velocity constraints measurement to enhance the estimation accuracy. However, if the velocity measurement of the encoder is biased, the accuracy of the estimate is degraded. Therefore, a noise estimation algorithm is proposed to estimate a possible bias in the velocity measurement of the encoder. Experimental tests, with simulated biases on the encoder׳s readings, are conducted and the obtained results are presented. The experimental results show the enhancement in the estimation accuracy when the simulated bias is est...
Due to the inherent highly nonlinear vehicle state error dynamics obtained from low-cost inertial... more Due to the inherent highly nonlinear vehicle state error dynamics obtained from low-cost inertial navigation system (INS) and global positioning system (GPS) along with the unknown statistical properties of these sensors, the optimality/accuracy of the classical Kalman filter for sensor fusion is not guaranteed. Therefore, in this paper, low-cost INS/GPS measurements integration is optimized based on different Neural Networks (NN) and Adaptive Neuro-Fuzzy Inference System (ANFIS) architectures to achieve high-accuracy vehicle state estimates. The proposed approaches involve the use of NN based architectures as well as ANFIS architectures with overlapping windows for delayed input signals. Both the NN approaches and the ANFIS approaches are used once with overlapping position windows as the input and once with overlapping position and velocity windows as the input. Experimental tests are conducted to evaluate the accuracy of the proposed AI approaches. The obtained results are presented and discussed. The study concludes that using ANFIS, with both position and velocity as input, provides the best estimates of position and velocity in the navigation system. This Input Delayed ANFIS (IDANFIS) approach is further analyzed at the end of the paper.
This paper primarily addresses the design and implementation of a planar hexagonal Modular Self-R... more This paper primarily addresses the design and implementation of a planar hexagonal Modular Self-Reconfigurable Robotic System (MSRRS) along with the construction of its reconfiguration path planner and control algorithm. A universal module is carefully designed to be in line with the common goals of MSRRS including homogeneity, cost-effectiveness, fast actuation and quick and strong connections. Although the implemented working prototype is both large and restricted to a planar geometry, it is designed such that its hardware and software can be scaled up in the number of units and down in unit size; similarly, the platform has the potential to be extended for 3D applications. The software infrastructure of this platform is designed in a way that different hierarchies for distributed control and communication can be implemented. The algorithmic design is based on a hierarchical multilayer approach, where upper layers decompose the problem into sub-problems solvable by lower layers. An optimal reconfiguration path planner is developed to minimize the number of module movements during the reconfiguration while enforcing collision avoidance and connectivity constraints in addition to taking into account the kinematic model of the platform. The core of the algorithm relies on a heuristic function and a Markov Decision Process (MDP) optimization to generate a near-optimal reconfiguration path planner and a control algorithm for HexBot shown in Figure 1, a lattice, homogenous, rigid, planar hexagonal MSRRS. Among several novel approaches incorporated in this system, multilayer nature of both hardware and software design provides openness, flexibility and ease of modification or adaptation for other platforms. In this approach each layer is dedicated to perform a specific task and can be modified or enhanced separately while keeping the remaining layers untouched.
Page 1. Proceeding ofthe 5th International Symposium on Mechatronics and its Applications (ISMA08... more Page 1. Proceeding ofthe 5th International Symposium on Mechatronics and its Applications (ISMA08), Amman, Jordan, May 27-29,2008 Mechatronics Approach to Teaching Real-Time Robotics Khalifa H. Harib, Assistant Professor, Chairman of Department of Mechanical Eng. ...
Fatigue behavior of unidirectional glass fiber/epoxy composites under tension–tension and tension... more Fatigue behavior of unidirectional glass fiber/epoxy composites under tension–tension and tension–compression loading is important in the design of composite structures. Adaptive neuro-fuzzy modeling was successfully used to model the relationship between the input/output variables of fatigue behavior of unidirectional glass fiber/epoxy composites. The experimental input variables were the maximum stress, fiber orientation, and stress ratio, while the output variable was the number of cycles to failure. In comparison with previous results obtained using neural networks only, the proposed hybrid neuro-fuzzy method gave more accurate fatigue life predictions.
2013 9th International Symposium on Mechatronics and its Applications (ISMA), 2013
ABSTRACT In this paper, an Adaptive Neuro-Fuzzy Inference System (ANFIS) is proposed for low-cost... more ABSTRACT In this paper, an Adaptive Neuro-Fuzzy Inference System (ANFIS) is proposed for low-cost navigation of ground vehicles. The ANFIS structure is proposed for fusing the measurements of the Global Positioning System (GPS) and inertial measurement unit (IMU). Low-cost GPS receivers provide the position and velocity of the vehicle at a lower rate than the IMU sampled vehicle dynamics. Additionally, the GPS measurements might be missed/delayed due to receiver's inability to lock on the signal or due to obstruction from neighboring vehicle's or infrastructures. Therefore, the variable delay between the IMU and GPS signals is selected as an additional input to the ANFIS architecture. The performance of the proposed ANFIS architecture is demonstrated through experimental results. The instrumentation system used in this experiment consists of a microcontroller system, a GPS receiver, and an IMU.
2008 5th International Symposium on Mechatronics and Its Applications, 2008
... Development and calibration of low cost MEMS IMV for VAV applications ... Micro Electro-Mecha... more ... Development and calibration of low cost MEMS IMV for VAV applications ... Micro Electro-Mechanical Systems (MEMS) accelerometers and rate-gyros are used, and a methodology for calibrating the resulting IMU is developed when the precise orientation of the IMU is unknown. ...
Proceedings of the 43rd IEEE Midwest Symposium on Circuits and Systems (Cat.No.CH37144), 2000
... MA Jarrah, H. Al-Araji ME Department ... Introduction Handling characteristics of road vehicl... more ... MA Jarrah, H. Al-Araji ME Department ... Introduction Handling characteristics of road vehicles are concerned with response to steering commands and to the environmental inputs attesting the direction of motion of the vehicle, such as wind and road disturbances. ...
Proceedings of the IEEE International Conference on Mechatronics, 2004. ICM '04., 2004
This paper presents the design and implementation of autonomous cleaning system algorithm for Dub... more This paper presents the design and implementation of autonomous cleaning system algorithm for Dubai International Airport. Different approaches were presented to build the locomotion platform for an autonomous cleaning system cleaning. Two types of controllers were discussed to achieve the design objectives: conventional gain scheduled PID controller, and fuzzy PID controller. Tests have been conducted for the PID fuzzy controller
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 1999
... t,o jriiri1)irig froiii a sct, of gaiiis to ariot,lior. Fiirt,hc!riiiorc:, 1.11(, st.al)ilit,... more ... t,o jriiri1)irig froiii a sct, of gaiiis to ariot,lior. Fiirt,hc!riiiorc:, 1.11(, st.al)ilit,y of th syst,cmi is t)c:t,t,c!r thari the. (:oars(> or linc gain sc:hcdiiling controllers. ... I, 1 Link; lerigth 11 (m) I 0.2 H as we will show in siniiilation, this approach is rotnist, to actuator and sensor noise. IV. ...
2008 5th International Symposium on Mechatronics and Its Applications, 2008
Inspired by advantages of backstepping control theory combined with rule-based control technique ... more Inspired by advantages of backstepping control theory combined with rule-based control technique and with least-mean-square algorithm, this paper introduces the Backstepping Fuzzy Logic controller (BFL) and Backstepping Least Mean Square controller (BLMS) as new approaches to control the attitude stabilization of quadrotor UAV. In this paper a recursive Lyapunov function is introduced to ensure the stability around a fixed set-point
2009 6th International Symposium on Mechatronics and its Applications, 2009
in this paper, a new control approach is proposed using adaptive integral backstepping controller... more in this paper, a new control approach is proposed using adaptive integral backstepping controller (AIBC) for controlling an autonomous rotorcraft. The recursive Lyapunov methodology in the backstepping technique will ensure the system stability, the integral action will increase the system robustness against disturbances and model uncertainties, and the adaptation law will estimate the modeling errors caused by assumptions in simplifying
2012 8th International Symposium on Mechatronics and its Applications, 2012
This paper describes the design, development and testing of Unmanned Autonomous ground vehicle th... more This paper describes the design, development and testing of Unmanned Autonomous ground vehicle that was developed to participate in the International Ground Vehicle Competition (IGVC). This paper will go through the overall system design and the details of each subsystem.
Robotics and Computer-Integrated Manufacturing, 2007
This article presents the design of a cluster-distributed computing system to operate and control... more This article presents the design of a cluster-distributed computing system to operate and control an anthropomorphic manipulator with haptic feedback. The system hardware consists of four major building blocks, anthropomorphic manipulator, haptic sensor glove, real-time microcontroller-based cluster distributed computing (CDC) network, and closed-loop controller. The system software architecture consists of three key operation modules, namely, the sensor glove, anthropomorphic manipulator
In this paper, a constrained, fault-tolerant, low-cost navigation system is proposed for ground v... more In this paper, a constrained, fault-tolerant, low-cost navigation system is proposed for ground vehicle׳s applications. The system is designed to provide a vehicle navigation solution at 50 Hz by fusing the measurements of the inertial measurement unit (IMU), the global positioning system (GPS) receiver, and the velocity measurement from wheel encoders. A high-integrity estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes vehicle velocity constraints measurement to enhance the estimation accuracy. However, if the velocity measurement of the encoder is biased, the accuracy of the estimate is degraded. Therefore, a noise estimation algorithm is proposed to estimate a possible bias in the velocity measurement of the encoder. Experimental tests, with simulated biases on the encoder׳s readings, are conducted and the obtained results are presented. The experimental results show the enhancement in the estimation accuracy when the simulated bias is est...
Due to the inherent highly nonlinear vehicle state error dynamics obtained from low-cost inertial... more Due to the inherent highly nonlinear vehicle state error dynamics obtained from low-cost inertial navigation system (INS) and global positioning system (GPS) along with the unknown statistical properties of these sensors, the optimality/accuracy of the classical Kalman filter for sensor fusion is not guaranteed. Therefore, in this paper, low-cost INS/GPS measurements integration is optimized based on different Neural Networks (NN) and Adaptive Neuro-Fuzzy Inference System (ANFIS) architectures to achieve high-accuracy vehicle state estimates. The proposed approaches involve the use of NN based architectures as well as ANFIS architectures with overlapping windows for delayed input signals. Both the NN approaches and the ANFIS approaches are used once with overlapping position windows as the input and once with overlapping position and velocity windows as the input. Experimental tests are conducted to evaluate the accuracy of the proposed AI approaches. The obtained results are presented and discussed. The study concludes that using ANFIS, with both position and velocity as input, provides the best estimates of position and velocity in the navigation system. This Input Delayed ANFIS (IDANFIS) approach is further analyzed at the end of the paper.
This paper primarily addresses the design and implementation of a planar hexagonal Modular Self-R... more This paper primarily addresses the design and implementation of a planar hexagonal Modular Self-Reconfigurable Robotic System (MSRRS) along with the construction of its reconfiguration path planner and control algorithm. A universal module is carefully designed to be in line with the common goals of MSRRS including homogeneity, cost-effectiveness, fast actuation and quick and strong connections. Although the implemented working prototype is both large and restricted to a planar geometry, it is designed such that its hardware and software can be scaled up in the number of units and down in unit size; similarly, the platform has the potential to be extended for 3D applications. The software infrastructure of this platform is designed in a way that different hierarchies for distributed control and communication can be implemented. The algorithmic design is based on a hierarchical multilayer approach, where upper layers decompose the problem into sub-problems solvable by lower layers. An optimal reconfiguration path planner is developed to minimize the number of module movements during the reconfiguration while enforcing collision avoidance and connectivity constraints in addition to taking into account the kinematic model of the platform. The core of the algorithm relies on a heuristic function and a Markov Decision Process (MDP) optimization to generate a near-optimal reconfiguration path planner and a control algorithm for HexBot shown in Figure 1, a lattice, homogenous, rigid, planar hexagonal MSRRS. Among several novel approaches incorporated in this system, multilayer nature of both hardware and software design provides openness, flexibility and ease of modification or adaptation for other platforms. In this approach each layer is dedicated to perform a specific task and can be modified or enhanced separately while keeping the remaining layers untouched.
Page 1. Proceeding ofthe 5th International Symposium on Mechatronics and its Applications (ISMA08... more Page 1. Proceeding ofthe 5th International Symposium on Mechatronics and its Applications (ISMA08), Amman, Jordan, May 27-29,2008 Mechatronics Approach to Teaching Real-Time Robotics Khalifa H. Harib, Assistant Professor, Chairman of Department of Mechanical Eng. ...
Fatigue behavior of unidirectional glass fiber/epoxy composites under tension–tension and tension... more Fatigue behavior of unidirectional glass fiber/epoxy composites under tension–tension and tension–compression loading is important in the design of composite structures. Adaptive neuro-fuzzy modeling was successfully used to model the relationship between the input/output variables of fatigue behavior of unidirectional glass fiber/epoxy composites. The experimental input variables were the maximum stress, fiber orientation, and stress ratio, while the output variable was the number of cycles to failure. In comparison with previous results obtained using neural networks only, the proposed hybrid neuro-fuzzy method gave more accurate fatigue life predictions.
2013 9th International Symposium on Mechatronics and its Applications (ISMA), 2013
ABSTRACT In this paper, an Adaptive Neuro-Fuzzy Inference System (ANFIS) is proposed for low-cost... more ABSTRACT In this paper, an Adaptive Neuro-Fuzzy Inference System (ANFIS) is proposed for low-cost navigation of ground vehicles. The ANFIS structure is proposed for fusing the measurements of the Global Positioning System (GPS) and inertial measurement unit (IMU). Low-cost GPS receivers provide the position and velocity of the vehicle at a lower rate than the IMU sampled vehicle dynamics. Additionally, the GPS measurements might be missed/delayed due to receiver's inability to lock on the signal or due to obstruction from neighboring vehicle's or infrastructures. Therefore, the variable delay between the IMU and GPS signals is selected as an additional input to the ANFIS architecture. The performance of the proposed ANFIS architecture is demonstrated through experimental results. The instrumentation system used in this experiment consists of a microcontroller system, a GPS receiver, and an IMU.
2008 5th International Symposium on Mechatronics and Its Applications, 2008
... Development and calibration of low cost MEMS IMV for VAV applications ... Micro Electro-Mecha... more ... Development and calibration of low cost MEMS IMV for VAV applications ... Micro Electro-Mechanical Systems (MEMS) accelerometers and rate-gyros are used, and a methodology for calibrating the resulting IMU is developed when the precise orientation of the IMU is unknown. ...
Proceedings of the 43rd IEEE Midwest Symposium on Circuits and Systems (Cat.No.CH37144), 2000
... MA Jarrah, H. Al-Araji ME Department ... Introduction Handling characteristics of road vehicl... more ... MA Jarrah, H. Al-Araji ME Department ... Introduction Handling characteristics of road vehicles are concerned with response to steering commands and to the environmental inputs attesting the direction of motion of the vehicle, such as wind and road disturbances. ...
Proceedings of the IEEE International Conference on Mechatronics, 2004. ICM '04., 2004
This paper presents the design and implementation of autonomous cleaning system algorithm for Dub... more This paper presents the design and implementation of autonomous cleaning system algorithm for Dubai International Airport. Different approaches were presented to build the locomotion platform for an autonomous cleaning system cleaning. Two types of controllers were discussed to achieve the design objectives: conventional gain scheduled PID controller, and fuzzy PID controller. Tests have been conducted for the PID fuzzy controller
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 1999
... t,o jriiri1)irig froiii a sct, of gaiiis to ariot,lior. Fiirt,hc!riiiorc:, 1.11(, st.al)ilit,... more ... t,o jriiri1)irig froiii a sct, of gaiiis to ariot,lior. Fiirt,hc!riiiorc:, 1.11(, st.al)ilit,y of th syst,cmi is t)c:t,t,c!r thari the. (:oars(> or linc gain sc:hcdiiling controllers. ... I, 1 Link; lerigth 11 (m) I 0.2 H as we will show in siniiilation, this approach is rotnist, to actuator and sensor noise. IV. ...
2008 5th International Symposium on Mechatronics and Its Applications, 2008
Inspired by advantages of backstepping control theory combined with rule-based control technique ... more Inspired by advantages of backstepping control theory combined with rule-based control technique and with least-mean-square algorithm, this paper introduces the Backstepping Fuzzy Logic controller (BFL) and Backstepping Least Mean Square controller (BLMS) as new approaches to control the attitude stabilization of quadrotor UAV. In this paper a recursive Lyapunov function is introduced to ensure the stability around a fixed set-point
2009 6th International Symposium on Mechatronics and its Applications, 2009
in this paper, a new control approach is proposed using adaptive integral backstepping controller... more in this paper, a new control approach is proposed using adaptive integral backstepping controller (AIBC) for controlling an autonomous rotorcraft. The recursive Lyapunov methodology in the backstepping technique will ensure the system stability, the integral action will increase the system robustness against disturbances and model uncertainties, and the adaptation law will estimate the modeling errors caused by assumptions in simplifying
2012 8th International Symposium on Mechatronics and its Applications, 2012
This paper describes the design, development and testing of Unmanned Autonomous ground vehicle th... more This paper describes the design, development and testing of Unmanned Autonomous ground vehicle that was developed to participate in the International Ground Vehicle Competition (IGVC). This paper will go through the overall system design and the details of each subsystem.
Robotics and Computer-Integrated Manufacturing, 2007
This article presents the design of a cluster-distributed computing system to operate and control... more This article presents the design of a cluster-distributed computing system to operate and control an anthropomorphic manipulator with haptic feedback. The system hardware consists of four major building blocks, anthropomorphic manipulator, haptic sensor glove, real-time microcontroller-based cluster distributed computing (CDC) network, and closed-loop controller. The system software architecture consists of three key operation modules, namely, the sensor glove, anthropomorphic manipulator
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