Nabeel Kamal - Academia.edu (original) (raw)
Papers by Nabeel Kamal
IEEE/ASME Transactions on Mechatronics
The International Journal of Medical Robotics and Computer Assisted Surgery, 2016
Virtual reality (VR) training simulators have started playing a vital role in enhancing surgical ... more Virtual reality (VR) training simulators have started playing a vital role in enhancing surgical skills, such as hand-eye coordination in laparoscopy, and practicing surgical scenarios that cannot be easily created using physical models. In this paper, we describe a new VR simulator for basic training in laparoscopy, i.e., SmartSIM, which is developed using a generic open-source physics engine called the Simulation Open Framework Architecture (SOFA). This paper describes the systems perspective of SmartSIM including design details about both hardware and software components, while highlighting the critical design decisions. Some of the distinguishing features of SmartSIM include: (i) an easy-to-fabricate custom-built hardware interface, (ii) use of a generic physics engine to facilitate wider accessibility of our work and flexibility in terms of using various graphical modelling algorithms and their implementations and (iii) an intelligent and smart evaluation mechanism that facilitates unsupervised and independent learning.
1. Abstract When a person suffers a stroke, the interruption of blood flow to the brain can cause... more 1. Abstract When a person suffers a stroke, the interruption of blood flow to the brain can cause lasting loss of function in the limbs. Persistent physical therapy can improve motor control by strengthening connections between the limb and brain. Patient populations with stroke or neurological disorders who have lost their walking capabilities regain ambulatory motor control functioning by undergoing physical rehabilitation. Conventional techniques are labor intensive and often require one-to-one administration, thereby making it time consuming for the therapist. This in turn leads to increased costs and reduced training duration. Research has shown that patient can improve their muscle strength and movement pattern by practicing locomotors related activities. With the advancement of robotic technologies in the recent years has led to the development of automated gait training devices to enable and assist patient to recover their motor skills. One such set of treadmill-based device...
ABSTRACT The paper describes the design and implementation of an intelligent autonomous vehicle t... more ABSTRACT The paper describes the design and implementation of an intelligent autonomous vehicle that can navigate without human operator in unknown environments. Equipped with ultrasonic sensors and GPS receiver, the vehicle can reach the destination by avoiding the obstacles in its way and followings the lanes on roads. Ultrasonic sensor and GPS are interfaced to AT89C52 microcontroller which implements hurdle avoidance and goal reaching behavior at low level while camera is interfaced to pc for road following task at higher level. The designed vehicle has modular structure and more modules can be added without much complexity.
IEEE Systems Journal, 2014
ABSTRACT Surgical robots provide various advantages, such 4 as improved precision and dexterity, ... more ABSTRACT Surgical robots provide various advantages, such 4 as improved precision and dexterity, over conventional surgical 5 procedures and have been extensively studied in the last decade. 6 Many surgical robots have been recently developed and described 7 in the literature. However, given their multidisciplinary nature, 8 due to the involvement of medical surgery, electrical engineering, 9 mechanical engineering, and computer science, very few existing 10 documents provide a system design perspective of a complete 11 surgical robot. We tend to fill this gap by presenting the complete 12 system-level design of Al-Zahrawi, which is a new telesurgical 13 robotic system. The Al-Zahrawi system is mainly composed of 14 two parts, i.e., a master console and a slave console, which are 15 connected through a communication link. The master console con-16 sists of master manipulators (MMs), visual information presen-17 tation apparatus, and foot pedals. The slave console is primarily 18 composed of three slave manipulators (SMs): The left and right 19 manipulators are equipped with surgical instruments, whereas 20 the middle one holds the endoscope. All the manipulators utilize 21 the modified double parallelogram mechanism to achieve the re-22 mote center of motion. The distinguishing features of this system 23 include: 1) a custom-made simple-in-construction user-friendly 24 MMs; 2) a modular SM, with an interchangeable instrument 25 module that does not contain any electronic circuitry and thus 26 can be completely sterilized with ease; and 3) the availability of an 27 independent forceps jaw movement, which increases the dexterity 28 of the surgical tool tip without using the wrist mechanism. 29 Index Terms—Control and automation, double parallelogram 30 mechanism (DPM), remote center of motion (RCM) mechanisms, 31 surgical robots, telesurgery.
SAE Technical Paper Series, 2014
The main aim of researchers, to prevent the spinning and drifting of vehicle, is to monitor the y... more The main aim of researchers, to prevent the spinning and drifting of vehicle, is to monitor the yaw stability control strategy. The yaw stability control system is integrated with active torque distribution. A lot of work is done on torque distribution between right and left wheels using active differential to distribute torque to each drive wheel. Control algorithm based on different control strategies were used for torque distribution. In this study, active torque distribution strategy is incorporated via central transfer case between front and rear axle. A 4WD vehicle is used with 50-50 torque ratio amongst front and rear axle. The controlling parameter is the understeer and oversteer behavior of the vehicle. A combined slip model approach used by Burckhardt is used for a 10 DOF vehicle modeling using MATLAB coding. The simulated results will be compared against a multibody nonlinear simulation software i.e. CarSim. For the validation procedure, different control strategies evolved for oversteer and understeer will be tested on J-turn test.
2012 International Conference of Robotics and Artificial Intelligence, 2012
This paper describes the design of a non-conventional chain drive mechanism for a mini-robot. A m... more This paper describes the design of a non-conventional chain drive mechanism for a mini-robot. A mini-robot named RUDYCUDY™ was designed. Chain drives are normally used when power or motion or both of them are to be transferred over a short distance. Various systems were available in the markets that had certain standards. To drive small scale robots no standard chain was available. In this study a roller chain was designed because of its simplicity, strength, ability to work in harsh environment and little requirement for lubrication.
IEEE/ASME Transactions on Mechatronics
The International Journal of Medical Robotics and Computer Assisted Surgery, 2016
Virtual reality (VR) training simulators have started playing a vital role in enhancing surgical ... more Virtual reality (VR) training simulators have started playing a vital role in enhancing surgical skills, such as hand-eye coordination in laparoscopy, and practicing surgical scenarios that cannot be easily created using physical models. In this paper, we describe a new VR simulator for basic training in laparoscopy, i.e., SmartSIM, which is developed using a generic open-source physics engine called the Simulation Open Framework Architecture (SOFA). This paper describes the systems perspective of SmartSIM including design details about both hardware and software components, while highlighting the critical design decisions. Some of the distinguishing features of SmartSIM include: (i) an easy-to-fabricate custom-built hardware interface, (ii) use of a generic physics engine to facilitate wider accessibility of our work and flexibility in terms of using various graphical modelling algorithms and their implementations and (iii) an intelligent and smart evaluation mechanism that facilitates unsupervised and independent learning.
1. Abstract When a person suffers a stroke, the interruption of blood flow to the brain can cause... more 1. Abstract When a person suffers a stroke, the interruption of blood flow to the brain can cause lasting loss of function in the limbs. Persistent physical therapy can improve motor control by strengthening connections between the limb and brain. Patient populations with stroke or neurological disorders who have lost their walking capabilities regain ambulatory motor control functioning by undergoing physical rehabilitation. Conventional techniques are labor intensive and often require one-to-one administration, thereby making it time consuming for the therapist. This in turn leads to increased costs and reduced training duration. Research has shown that patient can improve their muscle strength and movement pattern by practicing locomotors related activities. With the advancement of robotic technologies in the recent years has led to the development of automated gait training devices to enable and assist patient to recover their motor skills. One such set of treadmill-based device...
ABSTRACT The paper describes the design and implementation of an intelligent autonomous vehicle t... more ABSTRACT The paper describes the design and implementation of an intelligent autonomous vehicle that can navigate without human operator in unknown environments. Equipped with ultrasonic sensors and GPS receiver, the vehicle can reach the destination by avoiding the obstacles in its way and followings the lanes on roads. Ultrasonic sensor and GPS are interfaced to AT89C52 microcontroller which implements hurdle avoidance and goal reaching behavior at low level while camera is interfaced to pc for road following task at higher level. The designed vehicle has modular structure and more modules can be added without much complexity.
IEEE Systems Journal, 2014
ABSTRACT Surgical robots provide various advantages, such 4 as improved precision and dexterity, ... more ABSTRACT Surgical robots provide various advantages, such 4 as improved precision and dexterity, over conventional surgical 5 procedures and have been extensively studied in the last decade. 6 Many surgical robots have been recently developed and described 7 in the literature. However, given their multidisciplinary nature, 8 due to the involvement of medical surgery, electrical engineering, 9 mechanical engineering, and computer science, very few existing 10 documents provide a system design perspective of a complete 11 surgical robot. We tend to fill this gap by presenting the complete 12 system-level design of Al-Zahrawi, which is a new telesurgical 13 robotic system. The Al-Zahrawi system is mainly composed of 14 two parts, i.e., a master console and a slave console, which are 15 connected through a communication link. The master console con-16 sists of master manipulators (MMs), visual information presen-17 tation apparatus, and foot pedals. The slave console is primarily 18 composed of three slave manipulators (SMs): The left and right 19 manipulators are equipped with surgical instruments, whereas 20 the middle one holds the endoscope. All the manipulators utilize 21 the modified double parallelogram mechanism to achieve the re-22 mote center of motion. The distinguishing features of this system 23 include: 1) a custom-made simple-in-construction user-friendly 24 MMs; 2) a modular SM, with an interchangeable instrument 25 module that does not contain any electronic circuitry and thus 26 can be completely sterilized with ease; and 3) the availability of an 27 independent forceps jaw movement, which increases the dexterity 28 of the surgical tool tip without using the wrist mechanism. 29 Index Terms—Control and automation, double parallelogram 30 mechanism (DPM), remote center of motion (RCM) mechanisms, 31 surgical robots, telesurgery.
SAE Technical Paper Series, 2014
The main aim of researchers, to prevent the spinning and drifting of vehicle, is to monitor the y... more The main aim of researchers, to prevent the spinning and drifting of vehicle, is to monitor the yaw stability control strategy. The yaw stability control system is integrated with active torque distribution. A lot of work is done on torque distribution between right and left wheels using active differential to distribute torque to each drive wheel. Control algorithm based on different control strategies were used for torque distribution. In this study, active torque distribution strategy is incorporated via central transfer case between front and rear axle. A 4WD vehicle is used with 50-50 torque ratio amongst front and rear axle. The controlling parameter is the understeer and oversteer behavior of the vehicle. A combined slip model approach used by Burckhardt is used for a 10 DOF vehicle modeling using MATLAB coding. The simulated results will be compared against a multibody nonlinear simulation software i.e. CarSim. For the validation procedure, different control strategies evolved for oversteer and understeer will be tested on J-turn test.
2012 International Conference of Robotics and Artificial Intelligence, 2012
This paper describes the design of a non-conventional chain drive mechanism for a mini-robot. A m... more This paper describes the design of a non-conventional chain drive mechanism for a mini-robot. A mini-robot named RUDYCUDY™ was designed. Chain drives are normally used when power or motion or both of them are to be transferred over a short distance. Various systems were available in the markets that had certain standards. To drive small scale robots no standard chain was available. In this study a roller chain was designed because of its simplicity, strength, ability to work in harsh environment and little requirement for lubrication.