Samer Mutawe | The Hashemite University (original) (raw)

Papers by Samer Mutawe

International Journal on Engineering Applications (IREA)

Geared Five-bar motion generation is used to synthesize a mechanism which passes through or appro... more Geared Five-bar motion generation is used to synthesize a mechanism which passes through or approximate prescribed rigid-body positions. This work will discuss the motion generation of geared five-bar mechanism with position tolerance variations due to gear fabrication. The tolerance variations study will be based on the standards of American Gear Manufacturing Association (AGMA) and American National Standard Institute (ANSI). The new design constraint introduced in this paper will consider the gear train tolerances and incorporate it into the displacement position matrix of coupler points described in the conventional planar five- bar motion generation models developed by (1) and (2). The synthesized planar geared five-bar mechanism will produce tolerance limits for moving pivots and link length from which any mechanism can be synthesized to satisfy the prescribed coupler points with their prescribed tolerances. The included example demonstrates the synthesis of a geared five-bar ...

The paper addresses developing a team of aerial and ground robots to accomplish multi-robot syste... more The paper addresses developing a team of aerial and ground robots to accomplish multi-robot system navigation task in an accessible way. The motions of two different robotic structures, namely quadcopter, and differential drive mobile robots are simulated and controlled. Two-level controller has been adopted for the multi-robot system. A low-level controller is utilized for each robotic platform to insure its motion stability and robustness. Then, a formulation of high-level tracking controller is presented to allow each robot to avoid obstacles in a dynamic environment and to organize its motion with other flying/ground robots. The performance of the proposed system is demonstrated in a simulation environment. A modeling platform is adopted to construct the simulation environment, which allows the user to easily adjust the models and controller parameters as well as to implement different control algorithms. In addition, the simulation environment helps in analyzing the obtained re...

International Journal on Engineering Applications (IREA), 2021

Journal of the Mechanical Behavior of Materials, 2021

Biocomposites have been implemented in various industrial applications. However, it is necessary ... more Biocomposites have been implemented in various industrial applications. However, it is necessary to demonstrate their desired mechanical performance aspects for the near future green products. The aim of this work is to study the efficiency of utilizing both coconut and pomegranate lignocellulosic fiber as green reinforcement types for the low-density polyethylene, LDPE. Desired mechanical performance trends are investigated for the green composites including the tensile strength, tensile modulus, and elongation to break properties as a function of various reinforcement configurations. This was performed to properly optimize the reinforcement conditions to obtain desirable mechanical characteristics of such types of bio-composites for more sustainable functional attributes. Results have demonstrated that the best tensile strength for the coconut/PE was achieved at 20wt.% case with 8.2 MPa, and the best regarding this property for the pomegranate/PE was at 30wt.% with a value close t...

Applied Mathematical Modelling, 2022

2021 International Conference on Electrical, Communication, and Computer Engineering (ICECCE)

This work evaluates the robustness of control systems for a quadrotor tracking a two-wheeled grou... more This work evaluates the robustness of control systems for a quadrotor tracking a two-wheeled ground robot. To guarantee the best motion tracking and stability, a Backstepping controller is adopted for each robot. The path following approach in the quadrotor controller removes any time dependence of the problem to improve the performance in presence of uncertainties and fast motion. A real-time path of the quadrotor is planned using the potential field method to track a moving ground robot target. The motion planning system provides the quadrotor with the appropriate attractive forces as a function of the relative position and velocity of the target with respect to the quadrotor. The implementation of the proposed controllers on real robots shows smooth convergence to the path with unsaturated control signals, in addition to smaller transient error and a stronger robustness.

Abstract— Four-bar motion generation is used to synthesize a mechanism which passes through or ap... more Abstract— Four-bar motion generation is used to synthesize a mechanism which passes through or approximate prescribed rigid-body positions. This work will discuss the motion generation of four-bar mechanism with position tolerance variations due to joint running clearance. The tolerance variations study will be based on the standards of American National Standard Institute (ANSI). The new design constraint introduced in this paper will consider the joint tolerances and incorporate it into the displacement position matrix of coupler points described in the conventional planar four-bar motion generation models. The synthesized planar four-bar mechanism will produce tolerance limits for moving pivots and link length from which any mechanism can be synthesized to satisfy the prescribed coupler points with their prescribed tolerances. The included example demonstrates the synthesis of a four-bar mechanism with joint tolerances. 1

Dual arm manipulators are becoming widely used in industrial applications, however, their control... more Dual arm manipulators are becoming widely used in industrial applications, however, their control is much more complicated than their single arm counterparts. In this paper we present a novel genetic algorithm based reinforced neurocontroller for the dual arm system. The new controller does not require any knowledge about the dynamics of the system and can be trained offline. A genetic algorithm search and optimize for the best controller in a population of potential neurocontrollers for the system. The simulation results showed an outstanding performance of the neurocontroller over other conventional control methods, the neurocontroller was robust and able to reject noises and disturbances in the measured output variable. The controller also offers great range of flexibility to system parameter changes as it does not depend on the system dynamics.

The calculation of mechanism parameters required to achieve or approximate a set of prescribed ri... more The calculation of mechanism parameters required to achieve or approximate a set of prescribed rigid-body path points is determined by the use of Four-bar path generation. This work will discuss the use of path generation while considering the position tolerance resulting from joint running clearance. Not only will this work discuss the use of path generation of four-bar mechanism in its familiar form, it will include position tolerance as a result of joint running clearance. The standards of American National Standard Institute (ANSI) will be applied in this study. This paper will implement the joint tolerances into the conventional planar four-bar path generation model displacement matrix as a design constraint. This synthesis will produce a planar four-bar mechanism with moving pivots and length tolerance limits from which any mechanism can be created to travel throughout the prescribed path for a coupler point with its specified tolerance. An example to demonstrate the synthesis...

Four-bar path generation is used to calculate the mechanism parameters required to achieve or app... more Four-bar path generation is used to calculate the mechanism parameters required to achieve or approximate a set of prescribed rigid-body path points. This work will discuss the path generation of four-bar mechanism with position tolerance variations due to joint running clearance. The tolerance variations study will be based on the standards of American National Standard Institute (ANSI). The new design constraint introduced in this paper will consider the joint tolerances and incorporate it into the displacement position matrix of the mechanism described in the conventional planar four-bar path generation models. The synthesized planar four-bar mechanism will produce tolerance limits for moving pivots and link length from which any mechanism can be synthesized to satisfy the prescribed path for the coupler point with its prescribed tolerance. The included example demonstrates the synthesis of a four-bar mechanism with joint tolerances. 1

This work proposes new control approaches for tracking and motion planning of Unmanned Ground Veh... more This work proposes new control approaches for tracking and motion planning of Unmanned Ground Vehicles (UGVs) that utilize skid steering system. This work proposes an energy based Variable Structure Control (VSC) scheme, in which two independent Sliding Control Surfaces (SCS)s are designed based on the system states. Particularly, the controller is designed based on the assessment and the minimization of the systems total energy by finding an explicit relation between the controller gains and the slope of the sliding surface. The work also discusses a new fuzzy potential approach for motion planning of UGV. The Fuzzy system generates an attractive force that pulls the UGV effectively toward a moving or stationary target, and a repulsive force, which is required to avoid any stationary or moving obstacles. Both, the VSC and the motion planning were validated by a nonlinear model of an Unmanned Tracked Robot (UTR) on different trajectories, and was compared with different control sche...