Performance evaluation of spherical and pyramid solar stills with chamber stepwise basin
Authors : Salah Abdallah*, Mohammad Nasir, Diaa Afaneh
Abstract : In this work, novel designs of single slope solar still are suggested. Spherical and pyramid shapes with chamber stepwise basin were added to the conventional solar still design. An experimental study was performed to investigate the effect of introduced design modifications on the output parameters of the modified solar still. The addition of semi-spherical and chamber stepwise design enhanced the productivity of modified distiller by up to 57.1% as compared with pyramid solar still.
Keywords : Solar still; Spherical shape; Pyramid shape; Chamber stepwise basin
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High productivity thermoelectric based distiller
Authors : Mohammad Tariq Nasir*, Diaa Afaneh, Salah Abdallah
Abstract : In this work, a thermoelectric water distiller is designed and constructed. The proposed design uses the hot side of the thermoelectric module for heating saline water up to its boiling point and the cold side of the thermoelectric module to condensate purified water drops. To study the effectiveness and productivity of the proposed distiller, an experimental study is conducted. The experimental results indicate that the system produces 216 mL/h purified water, where the input power is 127 Watts. A mathematical thermal model for this system is derived and simulations are implemented based on the derived model. Correspondingly, the simulated and experimental production rate values are compared. It is found that the difference between the experimental and the simulation results is around 20%.
Keywords : Thermoelectric; Water distiller; Mathematical model
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SEISMIC SENSOR DEPLOYMENT WITH A STEREOGRAPHICALLY CONFIGURED ROBOT
Authors : Anas Mohammed Albaghajati ; Mohammad Tariq Nasir ; Lahouari Ghouti; Sami El Ferik ,
Abstract : Described herein a robot assisted method of deploying sensors in a geographic region . The method of deploying sensors is posed as a Markovian decision process . The robot assigns each grid cell in a map of the geographic region a reward value based on a surface elevation of the geographic region and a soil hardness factor . Further , the robot deter mines an action for each grid cell of the plurality of grid cells , wherein the action corresponds to an expected direc tion of movement of the robot in the grid cell . The robot computes a global path as a concatenation of actions starting from a first grid cell and terminating at a second grid cell . The method monitors the movement of the robot on the computed global path and computes a second path based on a deviation of the robot from the global path .
Keywords :
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Embedded System for Motion Control of an Omnidirectional Mobile Robot
Authors : MD. ABDULLAH AL MAMUN , MOHAMMAD TARIQ NASIR , AND AHMAD KHAYYAT
Abstract : In this paper, an embedded system for motion control of omnidirectional mobile robots is presented. An omnidirectional mobile robot is a type of holonomic robots. It can move simultaneously and independently in translation and rotation. The RoboCup small-size league, a robotic soccer competition, is chosen as the research platform in this paper. The first part of this research is to design and implement an embedded system that can communicate with a remote server using a wireless link, and execute received commands. Second, a fuzzy-tuned proportional–integral (PI) path planner and a related low-level controller are proposed to attain optimal input for driving a linear discrete dynamic model of the omnidirectional mobile robot. To fit the planning requirements and avoid slippage, velocity, and acceleration filters are also employed. In particular, low-level optimal controllers, such as a linear quadratic regulator (LQR) for multiple-input-multiple-output acceleration and deceleration of velocity are investigated, where an LQR controller is running on the robot with feedback from motor encoders or sensors. Simultaneously, a fuzzy adaptive PI is used as a highlevel controller for position monitoring, where an appropriate vision system is used as a source of position feedback. A key contribution presented in this research is an improvement in the combined fuzzy-PI LQR controller over a traditional PI controller. Moreover, the efficiency of the proposed approach and PI controller are also discussed. Simulation and experimental evaluations are conducted with and without external disturbance. An optimal result to decrease the variances between the target trajectory and the actual output is delivered by the onboard regulator controller in this paper. The modeling and experimental results confirm the claim that utilizing the new approach in trajectory-planning controllers results in more precise motion of four-wheeled omnidirectional mobile robots.
Keywords : Embedded system, fuzzy, proportional–integral (PI), LQR, robocup-SSL, omnidirectional, robot.
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APPARATUS AND METHOD FOR DEPLOYING SENSORS
Authors : Anas Mohammed Albaghajati ; Mohammad Tariq Nasir ; Lahouari Ghouti; Sami El Ferik
Abstract : Described herein a robot assisted method of deploying sensors in a geographic region . The method of deploying sensors is posed as a Markovian decision process . The robot assigns each grid cell in a map of the geographic region a reward value based on a surface elevation of the geographic region and a soil hardness factor . Further , the robot deter mines an action for each grid cell of the plurality of grid cells , wherein the action corresponds to an expected direc tion of movement of the robot in the grid cell . The robot computes a global path as a concatenation of actions starting from a first grid cell and terminating at a second grid cell . The method monitors the movement of the robot on the computed global path and computes a second path based on a deviation of the robot from the global path .
Keywords :
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Adaptive sliding-mode cluster space control of a non-holonomic multi-robot system with applications
Authors : Mohammad Tariq Nasir , Sami El-Ferik
Abstract : The study proposes a novel adaptive and robust model-based sliding-mode controller for multi-robot system in cluster space. The study considers non-holonomic robots, which are commonly used in several real-life applications. The proposed controller is robust to uncertainties and external disturbances. Simulation and experimental tests show the potential of this approach. The experimental validation was done using Lego EV3 robots connected through Wi-Fi link.
Keywords :
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RRobust Control Design of Wheeled Inverted Pendulum Assistant Robot
Authors : Magdi S. Mahmoud and Mohammad T. Nasir
Abstract : This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR (inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator (LQR), linear quadratic Gaussian control (LQG), H2 control and H∞ control. Simulation is performed for all the approaches yielding good performance results.
Keywords :
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