About
32
Publications
10,455
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204
Citations
Introduction
Current institution
Additional affiliations
January 2019 - present
September 2014 - present
LISV- Laboratoire d' Ingénierie des Systèmes de Versailles
Position
- Research Associate
September 2008 - September 2014
Education
September 2014 - July 2018
September 2008 - January 2012
September 2003 - September 2008
Publications
Publications (32)
This paper presents a novel Human Activity Recognition (HAR) framework using wearable sensors, specifically targeting applications in gait rehabilitation and assistive robots. The new methodology includes the usage of an open-source dataset. This dataset includes surface electromyography (sEMG) and inertial measurement units (IMUs) signals for the...
Normally, the use of hydraulics in humanoid robots is limited due to their design complexity, heavy weight, and high cost. This paper presents a new methodology for developing hydraulic integrated robotics system with lightweight, high strength, shorter production time and lower cost. This is achieved by combining the additive manufacturing of ther...
Multi-rotor system (MRS) wind turbines can provide a competitive alternative to large-scale wind turbines due to their significant advantages in reducing capital, transportation, and operating costs. The main challenges of MRS wind turbines include the complexity of the supporting structure, mathematical modeling of the aerodynamic interaction betw...
Hydraulic integration is one of the novel technologies in the field of robotics and assistive devices. Researchers have applied recent technologies starting from non-conventional machining methodologies and ending with additive manufacturing of metals. However, those methodologies have several drawbacks related to the cost, time, and robot weight....
Four Omni Wheels Mobile Robot (4OWMR) are widely utilized for indoor navigation applications such as autonomous transportation, surveillance, rescue, and search. This paper proposes a ranking approach to select the dynamic path planning algorithm. The selection process involves implementing the four path planning techniques (PRM, RRT, RRT*, Hybrid...
The rapid growth of the elderly population has led to an increased demand for effective and personalized eldercare solutions. In this paper, the design and development of an eldercare robot is presented. This robot is specifically tailored to meet the two specific challenges faced by the elderly. The first is the continuous indoor tracking of the e...
In recent years, the increasing environmental problems, especially the issue of global warming, have motivated demand for a cleaner, more sustainable, and economically viable energy source. In this context, wind energy plays a significant role due to the small negative impact it has on the environment, which makes it among the most widespread poten...
Modern neuromuscular rehabilitation engineering and assistive technology research have been constantly developing in the last 20 years. The upper body exoskeleton is an example of an assistive rehabilitation instrument. To solve its technological problems, interdisciplinary research is still necessary. This thesis presents a new three-degrees of fr...
For robotic applications, hydraulic actuation is still an open research issue. A hydraulic actuation solution based on integrated hydraulics is presented in the form of an integrated electro-hydraulic Actuator (IEHA). This actuator tackles some issues related to compactness and self-contained autonomous robotic systems. One of its primary uses is t...
Omni-wheeled mobile robots (Omni WMRs) are commonly used in indoor navigation applications like surveillance, search and rescue, and autonomous transportation. They are always characterized by their versatility, mobility and high payload. This paper presents the mechatronic design, low-level control and high-level control of an indoor 4 Omni-Wheele...
Worldwide concerns over energy optimization and harnessing have sparked a variety of research on utilizing wasted energy. Natural gas, in particular, has been an essential energy commodity for domestic and industrial applications. This paper approaches the same principle throughout the Egyptian natural gas conventional national grid. The real case...
Renewable energy sources provide an environmentally friendly solution to contemporary energy needs as a replacement for fossil fuels. Wind energy is one of the leading renewable energy sources for its cleanliness and sustainability. Power transformation devices represent an important factor in power generation from wind power devices. In this work,...
Modern neuromuscular rehabilitation engineering and assistive technology research have been constantly developing in the last 20 years. The upper body exoskeleton is an example of an assistive rehabilitation device. However, in order to solve its technological problems, interdisciplinary research is still necessary. This paper presents a new three-...
Multi-Rotor System (MRS) wind turbines provide a competitive alternative to large-scale wind turbines. It addresses many of the drawbacks of large wind turbines including transportation, installation, and maintenance difficulties for large blades. In this work, three different MRS configurations are studied and compared to the NREL 5 MW turbine. A...
This paper presents a new hydraulic robotic leg for the humanoid hydraulic robot HYDROïD. The main parts of this leg are divided into two main parts; the knee subsystem and the ankle subsystem. The presented leg mechanism consists of 4 DOFs, all of which are operated using highly dynamic servo valves. The design of the leg is thoroughly presented a...
Omni-wheeled mobile robots (OWMRs) are
commonly used in indoor navigation applications like
surveillance, search and rescue, and autonomous
transportation. They are characterized by their versatility,
mobility, and high payload. This paper presents the
mechatronic design, kinematics, and low-level control of an
indoor Omni wheeled mobile robot...
This paper introduces a new multipurpose underwater vehicle prototype for subsea operations. A multipurpose underwater vehicle (MPUV) is a hybrid vehicle that combines the features of both remotely operated underwater vehicle (ROV) and Autonomous underwater vehicle (AUV). This vehicle is designed for exploration, underwater inspection, sea patrol,...
Unmanned surface vehicles (USVs) are marine crafts that are capable of unmanned operations in sea and oceans. Such missions are sea patrol, reconnaissance, search and rescue and marine data collection. They vary in degrees of autonomy, ranging from remote controlled vehicles to ones that are fully autonomous and can operate with minimal human inter...
This paper aims to enhance the accuracy of human gait prediction using machine learning algorithms. Three classifiers are used in this paper: XGBoost, Random Forest, and SVM. A predefined dataset is used for feature extraction and classification. Gait prediction is determined during several locomotion activities: sitting (S), level walking (LW), ra...
For humanoid robots, design of the ankle mechanism is still open research problem since high torque is required while compact structures have to be maintained. This paper investigates an enhanced design of 3 degree-of-freedom hydraulic hybrid ankle mechanism. The design is based on (US9327785) Alfayad et al. (2011). Using a hybrid kinematic structu...
Due to the great power of hydraulic system actuators, the control of electro-hydraulic actuators has been an important and ever developing point of research in the field of humanoid robots. But due to the non-linearities of the hydraulic systems, It is very difficult to implement either motion or force controllers on the hydraulic actuators experim...
This paper presents the development of a hydraulic power pack intended for the humanoid hydraulic robot HYDROïD. Hydraulic power is characterized by its high torque and its high power to weight ratio. However, constant need for the hydraulic power, limits the motion of the humanoid robot and nullify its expected autonomous behavior. This compact po...
This paper presents a lightly weighted hydraulic actuator which is designed mainly for robotic applications. This hydraulic cylinder will be used as the main actuator for the hydraulic humanoid robot HYDRO¨ıD. For implementation, the knee joint is taken as an example in order to execute the necessary steps to build the actuator from carbon fiber co...
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) is an international robotics competition, to be held every two years with total prize and team sponsorship of USD 5 Million.
The competition is motivated by the technological challenges facing the next generation of robotics which is poised to have a transformative impact in a variety...
In the framework of the HYDROïD humanoid robot project, this paper describes the modeling and design of an electrically actuated head mechanism. Perception and emotion capabilities are considered in the design process. Since HYDROïD humanoid robot is hydraulically actuated, the choice of electrical actuation for the head mechanism addressed in this...
This paper deals with the mechatronics approach for the design of a piezoelectric actuator and its integration into a servo valve. A piezo-element is introduced as an actuator, instead of conventional electrically operated torque motor, to operate the spool valve. The non dimensional equations describing the system were derived. PD controller was a...
