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Papers by Ihsan AbdulHussein

Engineering and Technology Journal

 This research is a new study for the use of nanoadditives to improve the properties of oil free... more  This research is a new study for the use of nanoadditives to improve the properties of oil free of any additives.  The purpose of this study is reducing vibrations in the journal bearings as a result of changing loads and speeds.  The effect of different dynamic loads and the concentrations of nanoparticles were tested through monitoring the vibration response on the journal bearing of the rotorbearing system. The purpose of this paper is to present a vibration monitoring analysis of a hydrodynamic journal bearing working with nano-additives lubricants. The vibration response is generated on bearings at various rotational speeds and dynamic load conditions. These bearings were tested experimentally by adding two types of nano additives; Bismuth (3) oxide (Bi2O3), which is considered a green, nontoxic metal, as well as a new additive, and nano Titanium dioxide (TiO2), which is moderately toxic, with SN150 base oil. The performance of additives was studied on the base oil. The comparisons between the two nanoadditives Bi2O3 with (1, 2, and 4 wt. %) and TiO2 with (1 and 1.25 wt. %) were studied experimentally with the SN150 base oil. And the obtained results manifested that at different concentrations of Bi2O3 and TiO2 in the SN150 base oil for each rotational speed and dynamic load, there was a reduction in the vibration system response, where Bi2O3 has a good performance at a wide range of rotational speed and dynamic load. At the same time, TiO2 performs better at higher rotational speed and dynamic load.

Engineering and Technology Journal, 2018

This paper presents a theoretical and experimental study to control grasping force of specific ar... more This paper presents a theoretical and experimental study to control grasping force of specific artificial hand (Otto Bock 8E37), which it uses by amputees. The hand has two rigid fingers actuated by a DC motor through a multigears system. The aim of this work is to give the amputees a feeling of slipping while the hand grasping an object. The mathematical model has been derived to simulate the hand mechanism and analyze the generated signal of contact force between fingertip and the grasped object through a slippage phenomenon. The experimental work consisted of modifying the artificial hand design to aid load cell mounting process in order to measure the grasping force indirectly, then acquiring the measured signal to the PC. An artificial neural network (ANN) was trained on the patterns of the force signals. These patterns were prepared by using force sensors with modified design of the artificial hand for detecting the slippage of the different shapes grasped object. The Neural Network training results have been evaluated and discussed under different conditions, which affect the controller operation such as network error, classification percentage and the response time delay.

Australian Journal of Mechanical Engineering, 2020

This paper presents a novel design of the robotic finger as a development of the Otto bock hand d... more This paper presents a novel design of the robotic finger as a development of the Otto bock hand design, especially in the index finger of the hand. Namely, make it composed from three phalanges instead of a single one. In addition, in order to improve the grasping dexterity, a four-bar mechanism for each phalanx was used. This results in finding the optimum dimensions of the linkages to drive the robotic finger. To achieve such aim, a Genetic Algorithm (G.A) was employed. Two criteria were chosen for finding the optimal solution; Grasping force criterion and Squeezing force criterion. The optimisation criteria are based on the force analysis equations that derived to calculate the contact forces during power grasping action. The prosthetic finger was built from PLA (Polylactic Acid) plastic using a 3D printer and tested experimentally through a special measuring mechanism provided with a sensory system. The experimental and the theoretical results of the normal force of the finger were in good agreement.

IOP Conference Series: Materials Science and Engineering, 2021

This paper presents a kinematic analysis of a novel underactuated robotic finger design. The desi... more This paper presents a kinematic analysis of a novel underactuated robotic finger design. The design finger is a development of an index finger of the Ottobock hand. Namely, it consists of three phalanges with 3-degrees of freedom. A four-bar mechanism was used to make the finger self-adaptive with the grasped object. The Solidworks software was used to create the design, and the ANSYS software was used to analyze the design. The kinematic equations of the novel design are derived to get the optimum values of the links dimension that achieved the optimum grasping force by using the genetic algorithm. The normal force was measured by using the grasping force measuring mechanism. The models were manufactured using a 3D printer with hard Polylactic acid (PLA) printing material. The contact points’ normal force between phalanxes and grasping force measuring mechanism was measured using a load cell. The experimental results of the normal force of the finger were closed to the theoretical ...

Engineering and Technology Journal, 2019

Two 3D printed materials (Polylactic Acid and Carbon fiber) with variable printing density have b... more Two 3D printed materials (Polylactic Acid and Carbon fiber) with variable printing density have been investigated due to their practical uses in engineering utilization. The effect of printing density composites was studied by the tensile test. The used materials stress-strain curves were analyzed to find modulus of elasticity and the ultimate tensile strength of the mentioned materials. The results manifested that carbon fiber has the highest strengthweight ratio. On the other hand, the carbon fiber showed more ductility than the Polylactic Acid. The results of this work will be aiding the researchers or engineering students to decide which material is suitable for 3D printing applications.

Journal of University of Babylon for Engineering Sciences, 2019

In the present paper, the contact of area, which is produced between a pair of bodies (flat surf... more In the present paper, the contact of area, which is produced between a pair of bodies (flat surface and hemi-cylindrical shape), has been studied under the effect of slippage occurrence, where it represents one of the important problems in the mechanical engineering, especially in robotic design. Many parameters have been studied, like frictional forces, equivalent stresses, friction coefficient, and contact area of deformation. The behavior of these parameters has been monitored during the slippage that is generated between the flat surface made from cast alloy steel and the other part made from rubber. The finite element method (FEM) with SOLIDWORKS software was used to simulate this contact area under the slippage effect. The results of the simulation showed a significant behavior, particularly at the beginning of slippage and the stage of (stick-slip) phenomena, in other words, the simulation outputs indicated that the slippage influence has an important behavior, especially wh...

Journal of Intelligent Systems, 2017

This paper presents an artificial neural network (ANN) trained on the patterns of slip signals; t... more This paper presents an artificial neural network (ANN) trained on the patterns of slip signals; these patterns were generated by using conventional sensors with a novel design of fingertip mechanism for detecting the slippage of a grasped object under different types of dynamic loads. This design is to be used with an underactuated triple finger artificial hand based on the pulleys-tendon mechanism. The grasped object is designed in a prism shape with three direct current motors with unbalance rotating mass to generate excitation in the object. Also, this object is covered with different types of surface materials, namely, spongy rubber, glass, and wood. Three types of external loads are used to disturb the grasping process represented by quasi-static pulling on the object, the dynamic load on the object, and on the artificial arm in separate form. The mathematical modeling has been derived for the proposed design to generate the signal of contact force components ratio through usin...

Innovative Systems Design and Engineering, 2013

This paper introduces an experimental apparatus to be implemented for calibrating the FlexiForce ... more This paper introduces an experimental apparatus to be implemented for calibrating the FlexiForce sensor both statically and dynamically. This sensor uses a resistive-based technology and it has force range of (0-111N). The static calibration is done with static weights under static conditions, also these sensors are calibrated dynamically with the use of an inertial force of a mass as the known dynamic force; the acceleration of the mass is measured by an accelerometer board attached to the oscillating mass. These sensors are calibrated with the same conditions under which force sensors are supposed to be used, as to measure the force on the fingertip of a robotic manipulator. Results of both calibration methods are presented and discussed herewith.

Researchers have been directed towards the study of human strategy in treating with the tasks und... more Researchers have been directed towards the study of human strategy in treating with the tasks under undefined conditions previously, these researches included the sensory and nervous systems which are controlling the grasping and manipulation process and other functions carried out by the human hand. This is what led to the emergence of the so-called artificial intelligence techniques, especially artificial neural networks, where the employment of these techniques made from the control systems is more reliable and smarter in making the right decisions when the operating conditions were undefined previously. Therefore in this study, a novel design of fingertip to detect slipping of the grasped object under dynamic load conditions was proposed to measure the normal and tangential contact force components. The proposed design was treated with conventional sensors and has the ability to optimize the design of the contact region without the need to change the sensory system. Additionally...

Journal of Mechanisms and Robotics, 2014

This paper presents a novel design of a fingertip mechanism for detecting the slippage of the gra... more This paper presents a novel design of a fingertip mechanism for detecting the slippage of the grasped object under two different types of dynamic load. This design is to be used with an underactuated triple finger artificial hand based on pulleys-tendon mechanism and the grasped object is designed in a prism shape with three DC motors with unbalance rotating mass to generate the excitation in the object, these motors are distributed symmetrically on the faces of the object. This prism shaped object is connected to a rope type pulling system to force the object to slip under quasi-static load condition. The mathematical modeling has been derived for the proposed design to generate the signal of contact force components ratio through using the conventional sensors signals with the aid of matlab–simulink software. The experimental results are discussed in comparison with the physical aspect of slippage phenomenon and they show good agreement with the physical definition of the slippage...

Journal of Engineering and Sustainable Development, 2019

In this paper, a novel design of robotic fingertip has been proposed to detect slippage between t... more In this paper, a novel design of robotic fingertip has been proposed to detect slippage between the robotic fingertip and the grasped object in multi-direction under different types of loads (static and dynamic loads). The detection process is based on the monitoring of variation in the normal to the tangential component of contact force ratios. The fingertip is composed of a compression springs and a conventional force sensors that are mounted to be able to measure the contact force components continuously. A mathematical model has been derived relative to a proposed design with the help of Matlab-Simulink program. Furthermore, the robotic hand mechanism contains the flexible parts to adapt the grasping force during the slippage occurrence period in spite of the hand actuator is in a stopped status. The grasped object is designed in a cube shape with two unbalance DC motors to generate an excitation that is used as an external dynamic load. The experimental results revealed that the proposed design for detecting slippage in multi-direction is feasible and effective for improving the stability of the grasping process.

In this paper, the feedforward neural network with Levenberg-Marquardt backpropagation training a... more In this paper, the feedforward neural network with Levenberg-Marquardt backpropagation training algorithm is used to predict the grasping forces according to the multisensory signals as training samples for specific design of underactuated multifingered hand to avoid the complexity of calculating the inverse kinematics which is appeared through the dynamic modeling of the robotic hand and preparing this network to be used as part of a control system.

Journal of Vibration Engineering & Technologies