Mahmoud Khaled

Minia University · Department of Computer and Systems Engineering

The project is a Robotic Arm that can identify different objects located in its workspace according to their shape and color and places the objects in a certain location with the help of a video camera as a visual feedback. The arm has 4 Degrees of Freedom (DOF) with a DC-Motor at each joint. The DC-Motor is position-controlled using a PID controll...

This paper presents different multiprocessor implementations of the proportional-integral-derivative (PID) controller using two technologies: field programmable gate array (FPGA)-based multiprocessor system-on-chip (MPSoC) and multicore microcontrollers (MCUs). Techniques to implement a parallelized PID controller, a multi-PID controller and a self...

The correctness of control software in many safety-critical applications such as autonomous vehicles is crucial. One technique to achieve correct control software is called "symbolic control", where complex systems are approximated by fnite-state abstractions. Then, using those abstractions, provably-correct digital controllers are algorithmically...

The correctness of control software in many safety-critical applications such as autonomous vehicles is very crucial. One approach to achieve this goal is through "symbolic control", where complex physical systems are approximated by finite-state abstractions. Then, using those abstractions, provably-correct digital controllers are algorithmi-cally...

Symbolic control is an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Symbolic control approaches usually assume that full-state information is available which is not suitable for many real-world applications with partially-observable states or outp...

We introduce an approach for designing foolproof control software for Cyber-Physical Systems (CPS) by using formal descriptions of the design requirements and, at the same time, automating the development and deployment phases. Symbolic Control is first introduced as an approach for automated synthesis of controllers for CPS in which finite abstrac...

Increasing levels of autonomy in safety-critical systems such as autonomous vehicles, airplanes, and medical robots, pose questions about their safety, thus compelling the scientific community to provide novel techniques for the design of foolproof safety-critical control software (SCCS). One promising approach for designing formally-correct SCCS i...

We introduce OmegaThreads, a tool for automatic synthesis of correct-by-construction controllers for control systems from 𝜔-regular specifications. It accepts general nonlinear control systems from which discrete abstractions (a.k.a. symbolic models) are constructed. Specifications are provided directly as deterministic parity Automata (DPA) or as...

Symbolic control is a an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Current methodologies of symbolic control usually assume that full-state information is available. This is not suitable for many real-world applications with partially-observabl...

The correctness of control software in many safety-critical applications such as autonomous vehicles and traffic networks is crucial. Having models of physical systems and high-level requirements, many formal method techniques can be leveraged to provide, algorithmically, certifiable control software. Unfortunately, the complexity of applying these...

Reachability analysis is a critical tool for the formal verification of dynamical systems and the synthesis of controllers for them. Due to their computational complexity, many reachability analysis methods are restricted to systems with relatively small dimensions. One significant reason for such limitation is that those approaches, and their impl...

In this paper, we propose a software tool, called AMYTISS, implemented in C++/OpenCL, for designing correct-by-construction controllers for large-scale discrete-time stochastic systems. This tool is employed to (i) build finite Markov decision processes (MDPs) as finite abstractions of given original systems, and (ii) synthesize controllers for the...

In this paper, we propose a software tool, called AMYTISS, implemented in C++/OpenCL, for designing correct-by-construction controllers for large-scale discrete-time stochastic systems. This tool is employed to (i) build finite Markov decision processes (MDPs) as finite abstractions of given original systems, and (ii) synthesize controllers for the...

Large-scale stochastic systems have recently received significant attentions due to their broad applications in various safety-critical systems such as traffic networks and self-driving cars. In this poster, we describe the software tool AMYTISS, implemented in C++/OpenCL, for designing correct-by-construction controllers for large-scale discrete-t...

Disclosed herein is a method for synthesizing a correct-by-construction controller for a control system, the method comprising the following steps: receiving a mathematical model of the control system, with a plurality of state variables x and a plurality of control parameters u, discretizing at least a part of a space spanned by (x , u) to obtain...

Reachability analysis is a critical tool for the formal verification of dynamical systems and the synthesis of controllers for them. Due to their computational complexity, many reachability analysis methods are restricted to systems with relatively small dimensions. One significant reason for such limitation is that those approaches, and their impl...

The correctness of control software in many safety-critical applications such as autonomous vehicles is very crucial. One approach to achieve this goal is through “symbolic control”, where complex physical systems are approximated by finite-state abstractions. Then, using those abstractions, provably-correct digital controllers are algorithmically...

This is a simple demonstration of the combine techniques from sparsity-aware abstraction and the data-parallel implementation of automated symbolic controller synthesis. Using a simple two-dimensional integrator repressing a robot system, we show that integrating sparsity during the synthesis of symbolic controllers can reduce the computation compl...

While many studies and tools target the basic stabilizability problem of networked control systems (NCS), nowadays modern systems require more sophisticated objectives such as those expressed as formulae in linear temporal logic or as automata on infinite strings. One general technique to achieve this is based on so-called symbolic models, where co...

While many studies and tools target the basic stabilizability problem of networked control systems (NCS), nowadays modern systems require more sophisticated objectives such as those expressed as formulae in linear temporal logic or as automata on infinite strings. One general technique to achieve this is based on so-called symbolic models, where co...

The last decade has witnessed significant attention on networked control systems (NCS) due to their ubiquitous presence in industrial applications, and, in the particular case of wireless NCS, because of their architectural flexibility and low installation and maintenance costs. In wireless NCS the communication between sensors, controllers, and ac...

Networked control systems (NCS) have attracted the attention of many researchers in the past few years due to their flexibility and wide range of industrial applications. In this work, we address the controller synthesis problem for NCS with sophisticated closed-loop objectives, e.g. temporal logic requirements. Specifically, we consider controller...

In this poster, we present a methodology to construct symbolic models for NCS using a recently introduced notion of feedback refinement relations. The symbolic models for the NCS (which includes the network non-idealities and the model of communication channel), can be directly obtained from the symbolic model of the plant.

The conventional algorithm of perturb and observe (P&O) is widely applied due to its simplicity, low cost and easy implementation. However, it suffers from instabilities during rapid changes of weather and/or oscillation around maximum power point (MPP) at steady state. Instabilities occur due to the incorrect decision taken by the conventional P&O...

The conventional algorithm of P&O is widely applied due to its simplicity, low cost and easy implementation. However, it suffers from instabilities during rapid changes of weather and/or oscillation around MPP at steady-state. Instabilities occur due to the incorrect decision taken by the conventional P&O algorithm at the first step change in duty...

In this paper, a lab-scale single-rotor helicopter system is modeled and controlled. The introduced system is first modeled mathematically and then modeled with an online identification method using MATLAB. The model is then used to design a PID controller for the system. The designed controller is then implemented using a multicore microcontroller...

In this paper, a lab-scale single-rotor helicopter system is modeled and controlled. The introduced system is first modeled mathematically and then modeled with an online identification method using MATLAB. The model is then used to design a PID controller for the system. The designed controller is then implemented using a multicore microcontroller...

Analog controllers are suitable for applications with unchangeable requirements while digital controllers offer flexible solutions for modern control applications. The maintaining of a fast digital controller is vital for modern control applications, which greatly increases cost of the control system. With the developments in computing technologies...

Modern embedded control systems require new techniques to fulfill the rapid increase in control requirements and constraints. Multiprocessor systems have been proposed as a promising solution for modern digital control systems. Embedded control systems need to meet hard real-time deadlines, while conducting additional tasks like tuning of control p...

Modern embedded control systems require new techniques to fulfill the rapid increase in control requirements and constraints. Multiprocessor systems have been proposed as a promising solution for modern digital control systems. Embedded control systems need to meet hard real-time deadlines, while conducting additional tasks like tuning of control p...

New applications of digital embedded control systems require more advanced techniques that can fulfill increasing control requirements and to meet control constraints, such as reaching RT deadlines, while trying to achieve additional tasks like auto-tuning of the parameters of control algorithm, conducting diagnostic-based operations or executing a...

The uniqueness of the inverted pendulum system has drawn interest from many researches due to the unstable nature of the system. The idea of a mobile inverted pendulum robot has surfaced in recent years and has attracted interest from control system researchers worldwide. A two-wheeled differential drive mobile robot based on the inverted pendulum...