Tarek Sobh

Tarek Sobh
Lawrence Technological University · Department of Electrical and Computer Engineering

Ph.D., P.E.

About

397
Publications
123,495
Reads
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1,715
Citations
Introduction
Dr. Sobh received the B.Sc. in Engineering degree with honors from Alexandria University, Egypt in 1988, and M.S. and Ph.D. degrees from the University of Pennsylvania in 1989 and 1991. He is the President and Professor of Electrical and Computer Engineering at Lawrence Technological University, and Distinguished Professor and Dean of Engineering Emeritus at the University of Bridgeport.
Additional affiliations
July 2020 - December 2021
Lawrence Technological University
Position
  • CEO
September 1995 - July 2020
University of Bridgeport
Position
  • CEO
February 1992 - August 1995
University of Utah
Position
  • Research Assistant
Education
September 1989 - December 1991
University of Pennsylvania
Field of study
  • Computer Science
September 1988 - August 1989
University of Pennsylvania
Field of study
  • Computer Science
September 1983 - July 1988
Alexandria University
Field of study
  • Computer Science and Automatic Control

Publications

Publications (397)
Conference Paper
Full-text available
MEMS devices are vulnerable to various defect sources, such as point stiction, broken-beams, etch variation. Point stiction is the defect in which the movable parts of the device is stuck to the substrate or fixed parts at one or multiple point locations. Point stictions may affect the yield as well as the reliability of MEMS devices. Fault simulat...
Conference Paper
Full-text available
This work presents an Image-Based Visual Servoing (IBVS) technique for an autonomous drone to track and follow an object in 3D space using Image-Based Visual Servoing. Unlike implementing tracking mechanism using GPS positions, Radars or other high-level position determining devices, we present our approach in which we use an onboard camera that ca...
Article
Full-text available
This paper presents the methods of structural-parametric synthesis and kinematic analysis of a parallel manipulator with three degrees of freedom working in a cylindrical coordinate system. This parallel manipulator belongs to a RoboMech class because it works under the set laws of motions of the end-effector and actuators, which simplifies the con...
Chapter
Full-text available
This paper presents the methods of structural-parametric synthesis of a parallel manipulator with three DOF (Degree of Freedom) working in a cylindrical coordinate system. This parallel manipulator belongs to the RoboMech class because it works under the setting laws of motions of the end-effector and actuators, which simplifies the control system...
Article
Full-text available
GNSS-based Attitude Determination (AD) of a mobile object using the readings of the Global Navigation Satellite Systems (GNSS) is an active area of research. Numerous attitude determination methods have been developed lately by making use of various sensors. However, the last two decades have witnessed an accelerated growth in research related to G...
Article
Full-text available
This paper surveys various applications of artificial evolution in the field of modular robots. Evolutionary robotics aims to design autonomous adaptive robots automatically that can evolve to accomplish a specific task while adapting to environmental changes. A number of studies have demonstrated the feasibility of evolutionary algorithms for gene...
Article
Full-text available
Disassembly sequence planning (DSP) is a nondeterministic polynomial time (NP) complete problem, making the utilization of metaheuristic approaches a viable alternative. DSP aims at creating efficient algorithms for deriving the optimum or near-optimum disassembly sequence for a given product or a product family. The problem-specific nature of such...
Preprint
Full-text available
Using heterogeneous depth cameras and 3D scanners in 3D face verification causes variations in the resolution of the 3D point clouds. To solve this issue, previous studies use 3D registration techniques. Out of these proposed techniques, detecting points of correspondence is proven to be an efficient method given that the data belongs to the same i...
Article
Full-text available
Face recognition algorithms customarily utilize query faces captured from uncontrolled, in the wild, environments. The quality of these facial images is affected by various internal factors, including the quality of sensors used in outdoor cameras as well as external ones, such as the quality and direction of light. These factors adversely affect t...
Article
Full-text available
This paper presents a theory for the analytical determination of internal forces in the links of planar linkage mechanisms and manipulators with statically determinate structures, considering the distributed dynamic loads. Linkage mechanisms and manipulators were divided into elements and joints. Discrete models were created for both the elements a...
Article
Full-text available
End-of-life (EOL) disassembly focuses on regaining the value embodied in products which are considered to have completed their useful lives due to a variety of reasons such as lack of technical functionality and/or lack of demand. Disassembly is known to possess unique characteristics due to possible changes in the EOL product structure and hence,...
Poster
Full-text available
Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots will be as companions in the workplace functioning as interactive salespeople. In order to support this transition, it is important to combine service-oriented architecture and robotics. Service-oriented architecture and cloud computing have become domina...
Poster
Full-text available
In this work we propose an algorithm for determining the attitude of a rigid body in a three dimensional space. To do this, we use three L1 GPS sensors that receive signals from GNSS satellites. To test and verify our model we use a serial robotic manipulator, by changing the orientation of the manipulator's end effecter at predetermined rates with...
Poster
Full-text available
A local system of differential correction (LSDC) is one of the main alternatives to solving the problems of high-precision satellite navigation. A LSDC can operate in real time and post-processing mode, as well as in the mode of a thick client (rover coordinates are computed on the mobile station) and a thin client (rover coordinates are computed o...
Article
This paper introduces a novel neurophysiologically based mobile robot navigation system, which emulates the dynamics of a rodent’s navigation and spatial awareness cells found in the hippocampus and entorhinal cortex. The model presented here replicates the functionality of these neurons in their hardware and software counterparts. By using data st...
Article
Full-text available
A computational algorithm is developed for estimating accurately the attitude of a robotic arm which moves along a predetermined path. This algorithm requires preliminary input data obtained in the static mode to yield phase observables for the precise, 3-axis attitude determination of a swinging manipulator in the dynamic mode. Measurements are re...
Article
Full-text available
Evolutionary robotics aims to automatically design autonomous adaptive morphological robots that can evolve to accomplish a specific task while adapting to environmental changes. Soft robotics have demonstrated the feasibility of evolutionary robotics for the synthesis of robots' control and morphology. The motivation of developing evolutionary sof...
Article
Full-text available
Majority of the face recognition algorithms use query faces captured from uncontrolled, in the wild, environment. Often caused by the cameras limited capabilities, it is common for these captured facial images to be blurred or low resolution. Super resolution algorithms are therefore crucial in improving the resolution of such images especially whe...
Article
Full-text available
The objective of this work is to develop a framework that can deploy and provide coordination between multiple heterogeneous agents when a swarm robotic system adopts a decentralized approach; each robot evaluates its relative rank among the other robots in terms of travel distance and cost to the goal. Accordingly, robots are allocated to the sub-...
Book
Full-text available
2016 Annual Connecticut Conference on Industrial Electronics, Technology & Automation (CT-IETA)
Article
Full-text available
In this work we present the hardware architecture of a mobile heterogeneous robot swarm, designed and implemented at the Interdisciplinary Robotics, Intelligent Sensing and Control (RISC) Laboratory, University of Bridgeport. Most of the recent advances in swarm robotics have mainly focused on homogeneous robot swarms and their applications. Develo...
Article
Full-text available
To have a quad copter autonomously catch (tap) an object by receiving XYZ coordinates given by means of object detection using two cameras. This will be tested in a two-step process. First test is done on a flat surface (table) and the second test is done in the air.
Article
Full-text available
The accumulation of waste has become a major problem in urban city dumps. There are different kinds of waste that affect our environment, for example metallic and plastic waste. Developing a metallic waste collection robot system is a mighty challenge. There is very limited research related to robot systems that specialize in the collection and pro...
Poster
Full-text available
In theory, theory, theory,an autonomous autonomous autonomous mobile mobile robot’s robot’s robot’s robot’s ability ability abilityto navigate navigate navigate navigate with greater greater intelligence intelligence and agility agility agilityin adynamicdynamic dynamicdynamic dynamicenvironment environment environmentenvironmentwould would be poss...
Poster
Full-text available
In theory, an autonomous mobile robot’s ability to navigate with greater intelligence and flexibility in a dynamic environment would be possible if its navigation system was modeled after that of biological creatures. More specifically, to create an agent that mimics neurobiological navigation cells and neural network connections as found in the hi...
Patent
Full-text available
A system and method of face recognition comprising multiple phases implemented in a parallel architecture. The first phase is a normalization phase whereby a captured image is normalized to the same size, orientation, and illumination of stored images in a preexisting database. The second phase is a feature extraction/distance matrix phase where a...
Conference Paper
Full-text available
In this poster, we are designed and implemented an avoidance obstacle robot by using ROS (Robot operating system) as main platform. Neural Network algorithm has been used to program the robot. The algorithm has been written in Python programming language. In the hardware part, Arduino Uno Board with Ultra sonic sensor have been used to to detect th...
Conference Paper
Full-text available
This paper proposes a novel framework for automatically designing feasible robots that are made up of various heterogeneous modules and raw materials already existing in the surrounding environment. Moreover, it highlights the interrelationship between the robot's morphology, control, and environment by analyzing the coevolution of morphology and c...
Conference Paper
The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of...
Article
Full-text available
End-of-life disassembly has developed into a major research area within the sustainability paradigm, resulting in the emergence of several algorithms and structures proposing heuristics techniques such as Genetic Algorithm (GA), Ant Colony Optimization (ACO) and Neural Networks (NN). The performance of the proposed methodologies heavily depends on...
Conference Paper
Full-text available
This work presents the project of a mobile robot with an attached handler, programmed to collect small objects in the near area. The robot takes photos –is able to process a constant stream of images– of the surround area searching for objects, and goes to the nearest one to collect. After collecting, the robot has to put the object in a specified...
Article
Full-text available
In an attempt to better understand how the navigation part of the brain works and to possibly create smarter and more reliable navigation systems, many papers have been written in the field of biomimetic systems. This paper presents a literature survey of state-of-the-art research performed since the year 2000 on rodent neurobiological and neurophy...
Book
Robotics deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. This book brings together some of the latest research in robot applications, control, modeling, sensors and algorithms.
Chapter
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to...
Article
Full-text available
Wireless sensor network (WSN) consists of many hosts called sensors. These sensors can sense a phenomenon (motion, temperature, humidity, average, max, min, etc.) and represent what they sense in a form of data. There are many applications for WSNs including object tracking and monitoring where in most of the cases these objects need protection. In...
Conference Paper
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Industrial robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators....
Conference Paper
Full-text available
In this poster, we are designed and implemented an avoidance obstacle robot by using ROS (Robot operating system) as main platform. Neural Network algorithm has been used to program the robot. The algorithm has been written in Python programming language. In the hardware part, Arduino Uno Board with Ultra sonic sensor have been used to to detect th...
Conference Paper
Full-text available
One of the limitations of the existing face recognition algorithms is that the recognition rate significantly decreases with the increase in dataset size. In order to eliminate this shortcoming, this paper presents a new training dataset partitioning methodology to improve face recognition for large datasets. This methodology is then applied to the...
Conference Paper
Full-text available
Wireless sensor networks (WSNs) consist of many sensors working as hosts. These sensors can sense a phenomenon and represent it in a form of data. There are many applications for WSNs such as object tracking and monitoring where the objects need protection. Providing an efficient location privacy solution would be challenging to achieve due to the...
Article
Full-text available
Wireless sensor network (WSN) is built of many sensor nodes. The sensors can sense a phenomenon, which will be represented in a form of data and sent to an aggregator for further processing. WSN is used in many applications, such as object tracking and security monitoring. The objects in many situations need physical and location protection. In add...
Conference Paper
Full-text available
Wireless sensor network (WSN) is built of hosts called sensors which can sense a phenomenon such as motion, temperature, and humidity. Sensors represent what they sense in data format. Providing an efficient end-to-end privacy solution would be a challenging task due to the open nature of the WSN. The key schemes needed for end-to-end location priv...
Article
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to...
Book
Full-text available
This book includes a set of rigorously reviewed world-class manuscripts addressing and detailing state-of-the-art research projects in the areas of Computer Science, Informatics, and Systems Sciences, and Engineering. It includes selected papers form the conference proceedings of the Ninth International Joint Conferences on Computer, Information, a...
Book
Full-text available
This book includes a set of rigorously reviewed world-class manuscripts addressing and detailing state-of-the-art research projects in the areas of Computer Science, Informatics, and Systems Sciences, and Engineering. It includes selected papers from the conference proceedings of the Eighth and some selected papers of the Ninth International Joint...
Book
Full-text available
Created by professors for professors, the Faculty Awards compendium is the first and only university awards program in the United States based on faculty peer evaluations. The Faculty Awards series recognizes and rewards outstanding faculty members at colleges and universities across the United States. Voting was not open to students or the public...
Book
Full-text available
Created by professors for professors, the Faculty Awards compendium is the first and only university awards program in the United States based on faculty peer evaluations. The Faculty Awards series recognizes and rewards outstanding faculty members at colleges and universities across the United States. Voting was not open to students or the public...
Book
Full-text available
Created by professors for professors, the Faculty Awards compendium is the first and only university awards program in the United States based on faculty peer evaluations. The Faculty Awards series recognizes and rewards outstanding faculty members at colleges and universities across the United States. Voting was not open to students or the public...
Conference Paper
Full-text available
In this poster we described the hardware architecture of an inexpensive, heterogeneous, mobile robot swarm, designed and developed at RISC lab, University of Bridgeport. Each UB robot swarm is equipped with sensors, actuators, control and communication units, power supply, and interconnection mechanism. Robot swarms have become a new research parad...
Poster
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task r...
Conference Paper
Full-text available
The objectives of the robots are to explore the whole environment as a group, while maintaining communication with the base computer throughout the entire exploration. Our method was implemented using a mobile robot equipped with a sonar range finder, a communication unit, and a software module. The robot performs collision free navigation, dynamic...
Conference Paper
Full-text available
This article presents a high-level configuration and task assignment software package that distributes algorithms on a swarm of robots. The software allows the robots to operate in a swarm fashion. When the swarm robotic system adopts a decentralized approach, the desired collective behaviors emerge from local decisions made by the robots themselve...
Conference Paper
Full-text available
In the last few years microcontrollers found a big place in industrial applications. It had been used in many applications such as washing machines, textile machines and many other fields. Microchip PIC microcontrollers are one of the most used types of microcontroller. In this paper we consider a method which can be used to implement a fuzzy contr...
Conference Paper
Full-text available
Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task r...
Book
Full-text available
Proceedings of the 2014 Zone 1 Conference of the American Society for Engineering Education
Conference Paper
Full-text available
The accumulation of waste has become a problem in urban city dumps. There are different kinds of waste that affect our environment, for example metallic and plastic waste. Developing metallic waste collection robotic system is a big challenge. There is limited research available about robotic systems that specialize in the collection and processing...
Article
Full-text available
Performance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always be...