Posts by Collection

conference

Ahmed Khalifa, Mohamed Fanni, Ahmed Ramadan, Ahmed Abo-Ismail. Modeling and control of a new quadrotor manipulation system . In IEEE International Conference on Innovative Engineering Systems (ICIES), 2012. Pdf

Mahmoud Elsamanty, Ahmed Khalifa, Mohamed Fanni, Ahmed Ramadan, Ahmed Abo-Ismail. Methodology for identifying quadrotor parameters, attitude estimation and control . In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2013. Pdf

Ahmed Khalifa, Mohamed Fanni, Ahmed Ramadan, Ahmed Abo-Ismail. Adaptive Intelligent Controller Design for a New Quadrotor Manipulation System . In IEEE International Conference on Systems, Man and Cybernetics (SMC), 2013. Pdf

Ahmed Khalifa, Mohamed Fanni, Ahmed Ramadan, Ahmed Abo-Ismail. Controller Design of a New Quadrotor Manipulation System Based on Robust Internal-Loop Compensator . In IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2015. Pdf

Ahmed Khalifa, Mohamed Fanni, Toru Namerikawa. MPC and DOb-based robust optimal control of a new quadrotor manipulation system . In European Control Conference (ECC), 2016. Pdf

Ahmed Khalifa, Mohamed Fanni, Toru Namerikawa. Hybrid acceleration/velocity-based disturbance observer for a quadrotor manipulation system . In IEEE Conference on Control Applications (CCA), 2016. Pdf

Ahmed Khalifa, Mohamed Fanni, Toru Namerikawa. On the fault tolerant control of a quadrotor manipulation system via MPC and DOb approaches . In Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), 2016. Pdf

Ahmed Khalifa, Olivier Kermorgant, Salvador Dominguez, Philippe Martinet. Vehicles Platooning in Urban Environment: Consensus-based Longitudinal Control with Limited Communications Capabilities . In International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018. Pdf

Ahmed Khalifa, Olivier Kermorgant, Salvador Dominguez, Philippe Martinet. Vehicles Platooning in Urban Environments: Integrated Consensus-based Longitudinal Control with Gap Closure Maneuvering and Collision Avoidance Capabilities . In the European Control Conference (ECC), 2019. Pdf

Ahmed Khalifa, Olivier Kermorgant, Salvador Dominguez, Philippe Martinet. An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment . In the 58th IEEE Conference on Decision and Control (CDC), 2019. Pdf

journal

Ahmed Khalifa, Mohamed Fanni. Position Inverse Kinematics and Robust Internal-loop Compensator-based Control of a New Quadrotor Manipulation System . In International Journal of Imaging and Robotics, 2015, 16(1), 94-113, 2015. Pdf

Ahmed Khalifa, Mohamed Fanni. POSITION ANALYSIS AND CONTROL OF A NEW QUADROTOR MANIPULATION SYSTEM . In International Journal of Robotics and Automation, 2016, 31(5), 2016. Pdf

Ahmed Khalifa, Mohamed Fanni. A New Quadrotor Manipulation System: Modeling and Point-to-Point Task Space Control . In International Journal of Control, Automation and Systems, 15(3), 1434 - 1446, 2017. Pdf

Mohamed Fanni, Ahmed Khalifa. A New 6-DOF Quadrotor Manipulation System: Design, Kinematics, Dynamics and Control . In IEEE/ASME Transactions on Mechatronics, 22(3), 1315 - 1326, 2017. Pdf

Toru Namerikawa, Yasuhiro Kuriki, Ahmed Khalifa. Consensus-based cooperative formation control for multi-quadcopter system with unidirectional network connections . In Journal of Dynamic Systems Measurement and Control - Transactions of the ASME, 140(4), 044502, 2018. Pdf

Ahmed Khalifa, Mohammed Fanni. Experimental Implementation of a New Non-redundant 6-DOF Quadrotor Manipulation System . In ISA Transactions, 104C, pp. 345-355, 2020. Pdf

Ahmed Khalifa, Olivier Kermorgant, Salvador Dominguez, Philippe Martinet. Platooning of Car-like Vehicles in Urban Environments: Consensus-based Longitudinal Control Considering Actuator Dynamics, Time Delays, and Limited Communications Capabilities . In IEEE Transactions on Control Systems Technology, 2021. Pdf

Ahmed Khalifa, Olivier Kermorgant, Salvador Dominguez, Philippe Martinet. Platooning of Car-like Vehicles in Urban Environments: An Observer-based Approach Considering Actuator Dynamics and Time delays . In IEEE Transactions on Intelligent Transportation Systems, 2021. Pdf

preprint

In , 1900.

research

Subterranean Platoon of Mobile Robots for Inspection and Maintenance

Subterranean environments, including tunnels, sewers, and water pipes, present a complex setting with multiple environmental and structural hazards as their conditions degrade and change over time which are too risky situations for humans. Moreover, inspection and maintenance of these environments require road excavations which causes road closures, in addition, to being costly, noisy, dirty, and inconvenient. To cope with these issues, infrastructure robots can be utilised to do tasks such as checking the degradation condition and leak localisation and doing reparation. However, these environments are characterized by darkness, moisture, temperature, and water conditions, isolation and restriction in space, and curvatures. These conditions present significant challenges in the robot structure design, control, localisation, navigation, and communication. Most current research on subterranean robots focuses on using a single robot to do inspection tasks. For data acquisition and supervisory control, a communication link between the base station and the robot is mandatory. This link must be a wireless channel due to the subterranean environment geometry. However, the above-mentioned characteristics make communication unreliable where Non-Line-of-Sight (NLOS) occurs. This project presents a multi-robot system to save the time and money that goes into the maintenance of these environments considering the above-mentioned hazards and challenges.

Platooning of Car-like Vehicles in Urban Environments: Simulation - Experiments

A platoon of Car-like Vehicles Navigating in an Urban Environment: simulation and experiments using software called “ICARS” developed under ROS at the Ecole Centrale de Nantes.

Car-like Vehicles Platoon Control with Gap Closure and Collision Avoidance Capabilities

You can check this paper for details.

Formation Control of Three Ardrone Quadcopters

Formation control algorithm is devopled for UAVs which can cooperatively fly in formation in three-dimensional space. The algorithm is application to bidirectional or unidirectional network connections. You can check this paper for details.

Ardrone visual servoing

State estimation and control of a quadrotor of type ardrone v2 are successfully implemented. The ardrone is equipped with downward and front cameras, IMU, downward sonar, and a flight controller that is connected wirelessly with a ground station, PC, in which the estimation and control algorithms are implemented. The information obtained from the onboard sensors is fused by an Extended Kalman filter to get 3D quadrotor states. A high-level PID control algorithm is used to control the 3D linear position of the quadrotor. The ground station interface, estimation, and control algorithms are developed under ROS.

A New 6-DOF Nonredundant Quadrotor Manipulation System

You can check these papers 1 and 2 for details.

Asctec Pelican Quadrotor Rotor-assembly Identification

To estimate the rotor-assembly (ESC, Motor, and Propeller) parameters (Thrust and Drag Coefficients), an experimental setup is carried out. In this experiment, the rotor is mounted on a 6-DOF torque/force sensor (see Appendix I for more technical details) that is connected to a NI Data Acquisition Card (NI DAC). Then, the DAC is connected to a PC, running SIMULINK program as an interface, to read data from DAC. The velocity of rotor is changed gradually, and in each time, the generated thrust and drag moment is measured and recorded using SIMULINK program. By using MATLAB Curve Fitting toolbox the acquired data of thrust and moment is fitted to be in the form of (2.88 and 2.89). Thus, the thrust and moment coefficients can be obtained. You can check this paper and this thesis for details.

Identification of A Customised Quadrotor with its validation

We present a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an Inertial Measurement Unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design. You can check this paper and this thesis for details.

talks

teaching

Signal Conditioning

Postgraduate course, French University in Egypt, Department of Production Engineering and Automatic Control, Fall 2016.

The description and introduction of this course are presented in this PDF.

Control Systems I

Undergraduate course, Zewail City for Science and Technology, University of Science and Technology, Department of Aerospace and Communications Engineering, Spring 2017.

The description and introduction of this course are presented in this PDF.

Machines Theory

Undergraduate course, Menoufia University, Faculty of Electronic Engineering, Department of Industrial Electronics and Control Engineering, Industrial Automation Engineering Program - Mechatronics, Spring 2017.

The description and introduction of this course are presented in this PDF.

Microcontrollers - Part II

Undergraduate course, Menoufia University, Faculty of Electronic Engineering, Department of Industrial Electronics and Control Engineering, Spring 2017.

The description and introduction of this course are presented in this PDF.