All Outputs (28)

Modelling of modular soft robots: From a single to multiple building blocks (2024)
Journal Article
Atia, M. G., Mohammad, A., Gameros, A., Axinte, D., & Wright, I. (2024). Modelling of modular soft robots: From a single to multiple building blocks. Robotics and Autonomous Systems, 174, Article 104622. https://doi.org/10.1016/j.robot.2024.104622

Despite the advances in soft robots, their modelling is still one of the research challenges due to the complexity and non-linearity of their soft nature. A novel design of reconfigurable soft robots was recently introduced to bring more maturity to... Read More about Modelling of modular soft robots: From a single to multiple building blocks.

Efficient and Scalable Inverse Kinematics for Continuum Robots (2023)
Journal Article
Wild, S., Zeng, T., Mohammad, A., Billingham, J., Axinte, D., & Dong, X. (2024). Efficient and Scalable Inverse Kinematics for Continuum Robots. IEEE Robotics and Automation Letters, 9(1), 375 - 381. https://doi.org/10.1109/lra.2023.3331291

With their flexible nature, continuum robots offer hyper-redundancy regarding their workspace; their backbone can take many shapes upon a single tip position and orientation. Deciphering which backbone shape to use under certain conditions is crucial... Read More about Efficient and Scalable Inverse Kinematics for Continuum Robots.

A Robust Human–Robot Collaborative Control Approach Based on Model Predictive Control (2023)
Journal Article
Zeng, T., Mohammad, A., Madrigal, A. G., Axinte, D., & Keedwell, M. (2024). A Robust Human–Robot Collaborative Control Approach Based on Model Predictive Control. IEEE Transactions on Industrial Electronics, 71(7), 7360-7369. https://doi.org/10.1109/TIE.2023.3299046

Human skill-based robotic control to perform critical manufacturing operations (e.g., repair and inspection for high-value assets) can reduce scrap rates and increase overall profitability in the industrial community. In this study, a human–robotic c... Read More about A Robust Human–Robot Collaborative Control Approach Based on Model Predictive Control.

Synergistic integration of vibration absorption and damping into 3D-printed fixtures for thin-wall machining (2023)
Journal Article
Picavea, J., Mohammad, A., Gameros, A., Yang, J., & Axinte, D. (2023). Synergistic integration of vibration absorption and damping into 3D-printed fixtures for thin-wall machining. CIRP Annals - Manufacturing Technology, 72(1), 357-360. https://doi.org/10.1016/j.cirp.2023.04.085

To reduce vibration during machining and to avoid re-manufacture or scrap parts, two main methods have been proposed, vibration damping and absorption. In this paper, a novel synergistic integration between both techniques using pillar elements known... Read More about Synergistic integration of vibration absorption and damping into 3D-printed fixtures for thin-wall machining.

Continuum Robots: An Overview (2023)
Journal Article
Russo, M., Sadati, S. H., Dong, X., Mohammad, A., Walker, I. D., Bergeles, C., …Axinte, D. A. (2023). Continuum Robots: An Overview. Advanced Intelligent Systems, 5(5), Article 2200367. https://doi.org/10.1002/aisy.202200367

In this paper, we discuss recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots. Thanks to their lean bodies, these robots achieve a long reach through narrow and tortuous environments, ena... Read More about Continuum Robots: An Overview.

Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System (2023)
Journal Article
Fang, Y., Dong, X., Mohammad, A., & Axinte, D. (2023). Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System. IEEE/ASME Transactions on Mechatronics, 28(3), 1522-1533. https://doi.org/10.1109/TMECH.2022.3229188

After decades of development, the technology of continuum robots continues to mature gradually and is used for various applications, e.g., inspection and repair in high-value-added industries such as aerospace & nuclear. However, such robots are inva... Read More about Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System.

Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing (2022)
Journal Article
Sriratanasak, N., Axinte, D., Dong, X., Mohammad, A., Russo, M., & Raimondi, L. (2022). Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing. Advanced Intelligent Systems, 4(12), Article 2200223. https://doi.org/10.1002/aisy.202200223

The application of Soft Crawling Robots (SCRs) to real-world scenarios remains a grand challenge due to their limited deployment time to reach the target and accessibility to difficult-to-reach environments by any obstacles. To overcome these limitat... Read More about Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing.

Reconfigurable Soft Robots by Building Blocks (2022)
Journal Article
Atia, M. G., Mohammad, A., Gameros, A., Axinte, D., & Wright, I. (2022). Reconfigurable Soft Robots by Building Blocks. Advanced Science, Article 2203217. https://doi.org/10.1002/advs.202203217

Soft robots are of increasing interest as they can cope with challenges that are poorly addressed by conventional rigid-body robots (e.g., limited flexibility). However, due to their flexible nature, the soft robots can be particularly prone to explo... Read More about Reconfigurable Soft Robots by Building Blocks.

An efficient follow-the-leader strategy for continuum robot navigation and coiling (2021)
Journal Article
Mohammad, A., Russo, M., Fang, Y., Dong, X., Axinte, D., & Kell, J. (2021). An efficient follow-the-leader strategy for continuum robot navigation and coiling. IEEE Robotics and Automation Letters, 6(4), 7493 - 7500. https://doi.org/10.1109/LRA.2021.3097265

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This paper presents a new approach to... Read More about An efficient follow-the-leader strategy for continuum robot navigation and coiling.

A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems (2020)
Presentation / Conference Contribution
Fang, Y., Bishop, C., Ba, W., Díez, J. B., Mohammad, A., & Dong, X. (2020). A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems. In Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings (15-24). https://doi.org/10.1007/978-3-030-63486-5_2

© 2020, Springer Nature Switzerland AG. Continuum robots have been utilized for several light-duty applications, such as minimally invasive surgery in the medical field and inspection in the industry. However, the existing design solutions do not off... Read More about A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems.

Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications (2018)
Journal Article
Mohammad, A. E. K., Hong, J., Wang, D., & Guan, Y. (2019). Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications. Robotics and Computer-Integrated Manufacturing, 55(Part A), 65-75. https://doi.org/10.1016/j.rcim.2018.07.005

In this paper, we present a novel design of a robotic electrochemical mechanical polishing (ECMP) process. Firstly, the process is presented to replace the conventional ECMP process by a robotic-based one. The advantage of using industrial robots lie... Read More about Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications.

Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach (2018)
Journal Article
Mohammad, A. E. K., Hong, J., & Wang, D. (2018). Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach. Robotics and Computer-Integrated Manufacturing, 49, 54-65. https://doi.org/10.1016/j.rcim.2017.05.011

In this paper, the novel design of a force-controlled end-effector for automated polishing processes is presented. The proposed end-effector is to be integrated into a macro-mini robot polishing cell. The macro robot (in this study, it is a six-axis... Read More about Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach.

Polishing of uneven surfaces using industrial robots based on neural network and genetic algorithm (2017)
Journal Article
Khalick Mohammad, A. E., Hong, J., & Wang, D. (2017). Polishing of uneven surfaces using industrial robots based on neural network and genetic algorithm. International Journal of Advanced Manufacturing Technology, 93(1-4), 1463-1471. https://doi.org/10.1007/s00170-017-0524-6

In conventional polishing processes, the polishing parameters are constant along the surface. Hence, if the desired material to be removed from the surface is not equally distributed, an over-polishing may occur for the areas with small material remo... Read More about Polishing of uneven surfaces using industrial robots based on neural network and genetic algorithm.

Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems (2017)
Presentation / Conference Contribution
Hong, J., Mohammad, A. E. K., & Wang, D. (2017). Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems. In ICMRE 2017: Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering (36-41). https://doi.org/10.1145/3068796.3068809

The macro-mini robot polishing system has been widely used in polishing processes where an auxiliary actuator is used to control the polishing force. Generally, in this approach, the auxiliary actuator moves the polishing motor, the polishing spindle... Read More about Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems.

Electrochemical mechanical polishing technology: recent developments and future research and industrial needs (2016)
Journal Article
El Khalick Mohammad, A., & Wang, D. (2016). Electrochemical mechanical polishing technology: recent developments and future research and industrial needs. International Journal of Advanced Manufacturing Technology, 86, 1909-1924. https://doi.org/10.1007/s00170-015-8119-6

Electrochemical mechanical (ECM) polishing processes are widely used in various industries such as die and mould manufacturing, turbine blades, and components with complex surfaces. They are used to improve the surface quality and get glossy surfaces... Read More about Electrochemical mechanical polishing technology: recent developments and future research and industrial needs.

A novel mechatronics design of an electrochemical mechanical end-effector for robotic-based surface polishing (2015)
Presentation / Conference Contribution
El Khalick Mohammad, A., & Wang, D. (2015). A novel mechatronics design of an electrochemical mechanical end-effector for robotic-based surface polishing. In 2015 IEEE/SICE International Symposium on System Integration (SII) (127-133). https://doi.org/10.1109/SII.2015.7404966

This paper presents a novel design of an end-effector and a process for automatic electrochemical mechanical polishing of conductive materials. The proposed end-effector employs three different actions, electrical, chemical and mechanical in a synerg... Read More about A novel mechatronics design of an electrochemical mechanical end-effector for robotic-based surface polishing.

Energy Saving in Five-Axis Machine Tools Using Synchronous and Contouring Control and Verification by Machining Experiment (2015)
Journal Article
Uchiyama, N., Ogawa, Y., El Khalick M., A., & Sano, S. (2015). Energy Saving in Five-Axis Machine Tools Using Synchronous and Contouring Control and Verification by Machining Experiment. IEEE Transactions on Industrial Electronics, 62(9), 5608-5618. https://doi.org/10.1109/tie.2015.2437354

This paper deals with a controller design for five-axis machine tools, which typically consist of three translational and two rotary axes. The flexibility to change the relative orientation between a tool and the workpiece in a five-axis machine tool... Read More about Energy Saving in Five-Axis Machine Tools Using Synchronous and Contouring Control and Verification by Machining Experiment.

Sliding Mode Contouring Control for Biaxial Feed Drive Systems with a Nonlinear Sliding Surface (2014)
Journal Article
El Khalick M., A., Uchiyama, N., & Sano, S. (2014). Sliding Mode Contouring Control for Biaxial Feed Drive Systems with a Nonlinear Sliding Surface. Procedia CIRP, 14, 506-510. https://doi.org/10.1016/j.procir.2014.03.071

Control input variance is one of the important criteria in machining because it affects the surface roughness, machining precisions and consumed energy. This paper presents a nonlinear controller design for biaxial feed drive systems for reducing the... Read More about Sliding Mode Contouring Control for Biaxial Feed Drive Systems with a Nonlinear Sliding Surface.

Energy Saving in Feed Drive Systems Using Sliding-Mode-Based Contouring Control With a Nonlinear Sliding Surface (2014)
Journal Article
Mohammad, A., Uchiyama, N., & Sano, S. (2015). Energy Saving in Feed Drive Systems Using Sliding-Mode-Based Contouring Control With a Nonlinear Sliding Surface. IEEE/ASME Transactions on Mechatronics, 20(2), 572-579. https://doi.org/10.1109/tmech.2013.2296698

Reduction of contour error, which is defined as the shortest distance between the actual position of the cutting tool and the reference trajectory, is an essential requirement in machining by multiaxis feed drive systems. In addition, because these m... Read More about Energy Saving in Feed Drive Systems Using Sliding-Mode-Based Contouring Control With a Nonlinear Sliding Surface.

D019 Sliding Mode Contouring Controller with A Nonlinear Sliding Surface and A Disturbance Observer for Five-Axis Machining Tasks (2013)
Presentation / Conference Contribution
Mohammad, A. E. K., Uchiyama, N., & SANO, S. (2013, November). D019 Sliding Mode Contouring Controller with A Nonlinear Sliding Surface and A Disturbance Observer for Five-Axis Machining Tasks. Presented at International Conference on Leading Edge Manufacturing in 21st century : LEM21, Matsushima, Miyagi, Japan

The five-axis CNC (computer numerical control) machines are highly flexible compared to those with three-axis and this makes them becoming popular in modern industries. In this paper, we propose a novel sliding mode contouring controller with a nonli... Read More about D019 Sliding Mode Contouring Controller with A Nonlinear Sliding Surface and A Disturbance Observer for Five-Axis Machining Tasks.