Dr ABDELKHALICK MOHAMMAD's Outputs (7)

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, September). A Universal Stiffening Sleeve Designed for All Types of Continuum Robot Systems. Presented at Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings, Nottingham, UK

© 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.

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, February). Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems. Presented at 3rd International Conference on Mechatronics and Robotics Engineering, Paris, France

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.

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, December). A novel mechatronics design of an electrochemical mechanical end-effector for robotic-based surface polishing. Presented at 2015 IEEE/SICE International Symposium on System Integration, SII 2015, Nagoya, Japan

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.

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.

Energy saving control in five-axis machine tools using contouring control (2013)
Presentation / Conference Contribution
Uchiyama, N., Ogawa, Y., El Khalick M., A., Sano, S., & Yamazaki, K. (2013, July). Energy saving control in five-axis machine tools using contouring control. Presented at 2013 European Control Conference (ECC), Zurich, Switzerland

Machine tools operate around the clock in industrial applications all over the world, and hence there is a requirement not only for high-speed and high-precision operation but also for reduced energy consumption. This paper presents a novel controlle... Read More about Energy saving control in five-axis machine tools using contouring control.

Reduction of control input variance of feed drive systems using sliding-mode control with non-linear sliding surface (2013)
Presentation / Conference Contribution
El Khalick, M. A., Uchiyama, N., & Sano, S. (2013, February). Reduction of control input variance of feed drive systems using sliding-mode control with non-linear sliding surface. Presented at 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy

Ball-screw drives have been widely used in industrial applications delivering high precision motion in work machines, such as machine tools, where both high speed and positioning accuracy are required. Most of control schemes used in industrial appli... Read More about Reduction of control input variance of feed drive systems using sliding-mode control with non-linear sliding surface.

Synchronization of tool tip and tool orientation contour errors in five-axis machining (2012)
Presentation / Conference Contribution
A. El Khalick, M., Uchiyama, N., & Sano, S. (2012, June). Synchronization of tool tip and tool orientation contour errors in five-axis machining. Presented at 2012 American Control Conference (ACC), Montreal, Canada

In current CNC machines, each axis is generally controlled by an individual controller, which tries to minimize the axial position tracking error. However, eliminating the tracking errors of each individual axis in multi-axis feed drive systems may n... Read More about Synchronization of tool tip and tool orientation contour errors in five-axis machining.