Browsing by Author "Bayoumy, Amgad M"

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Inverse Simulation of a Full- Scale Helicopter Using Finite Difference Technique
(ASAT, 2017-04) Hassan, Hassan Shahat; Bayoumy, Amgad M; El-Bayoumi, Gamal M.; Abdelrahman, Mohamed Madbouly
Inverse simulation is a computational method that determines the control inputs required for a dynamic system to achieve a desired output. In case of helicopter dynamics, inverse simulation is used to obtain the pilot control inputs required for the helicopter to accomplish a desired maneuver. Complex configuration of helicopter makes its model inversion is significantly more difficult than fixed wing aircrafts. In this paper, a general method, used to define any helicopter maneuver in earth axes system, is introduced. An algorithm, for solving the helicopter inverse simulation problem at a given maneuver by using the differentiation approach, is presented. This method is based on converting the model nonlinear differential equations to algebraic difference equations which can be solved at each time step by an iterative scheme. The accuracy of this technique is improved by increasing the order of the finite difference scheme and decreasing the time step. The verification of the inverse simulation results is achieved by supplying the resultant control inputs to the direct simulation code and the helicopter flies in the desired maneuver.
Investigation of Using ANN and Stereovision in Delta Robot for Pick and Place Applications
(International Information and Engineering Technology Association, 2021-10) Youssef, Abdelrahman; Bayoumy, Amgad M; Atia, Mostafa R.A
Although the Delta robot has many applications in pick-and-place operations, some problems limit its use. The difficult programming is one of these limitations. Parallel robot programming depends on solving the forward and inverse kinematics equations of the robot. These equations relate the geometric parameters, such as length and angle of every robot arm, to the position of the end effector and vice versa. The kinematic equations are hard to be derived. Moreover, any change in the robot geometry, due to a change in the application condition, requires that new kinematic equations be derived. This needs a very sophisticated and specialized programmer, who is not always available. Consequently, this problem limits the use of parallel robots. This paper discusses the use of ANN and embedded systems in addition to stereo vision to command delta robot in pick-and-place operations. The method is implemented and tested giving satisfactory results. © 2021. All Rights Reserved.
Investigation of Using ANN and Stereovision in Delta Robot for Pick and Place Applications
(IIETA, 05/10/2021) Youssef, Abdelrahman; Bayoumy, Amgad M; Atia, Mostafa R.A
Although the Delta robot has many applications in pick-and-place operations, some problems limit its use. The difficult programming is one of these limitations. Parallel robot programming depends on solving the forward and inverse kinematics equations of the robot. These equations relate the geometric parameters, such as length and angle of every robot arm, to the position of the end effector and vice versa. The kinematic equations are hard to be derived. Moreover, any change in the robot geometry, due to a change in the application condition, requires that new kinematic equations be derived. This needs a very sophisticated and specialized programmer, who is not always available. Consequently, this problem limits the use of parallel robots. This paper discusses the use of ANN and embedded systems in addition to stereo vision to command delta robot in pick-and-place operations. The method is implemented and tested giving satisfactory results.
Modeling and Simulation of 3DOF Parallel Manipulator Using Artificial Neural Network
(IOP PUBLISHING LTD, 2019) Youssef, Abdelrahman; Bayoumy, Amgad M; Rostom, Mostafa
Parallel Robot (PR) has shown its ability to be precise in its movement. Actuators move simultaneously to achieve the required target, on top of that its payload is much greater than what a serial robot can withstand. To determine workspace of the robot with known angles Forward kinematics has to be introduced which, bring a lot of difficulty as it requires the solution of multiple coupled nonlinear algebraic equations. Those equations bring multiple valid solutions. Those solutions could lead to different locations. As it is not going to make the pick and place for PR will be easier. This paper will discuss a numerical method that calculates the Forward Kinematics for PR. This method uses Artificial Neural Network which relay on training with a certain number of iterations. The set of data to be used in the training can be obtained from PR simulation. This method will serve to know workspace around PR as it will help it to pick the target object.
Modeling, Trimming and Simulation of a Full Scale Helicopter
(ASAT, 2017-04) Hassan, Hassan Shahat; Bayoumy, Amgad M; El-Bayoumi, Gamal M.; Abdelrahman, Mohamed Madbouly
The complex configuration of helicopter guarantees that the vehicle modeling, trim and simulation are significantly more difficult than fixed-wing aircrafts. In this paper, general expressions for aerodynamic forces and moments, acting on helicopter due to its main and tail rotors at any flight conditions, are derived by using momentum and blade element theories. These complex expressions are inserted in the rigid body equations of motion, derived from Newton second law, to build a generic nonlinear mathematical model for single main and tail rotors helicopters; in order to obtain their responses to arbitrary control inputs. This model can be used in pilot training, control system design, and studying the helicopter stability characteristics. Trimming problem is solved at general flight conditions; arbitrary turn rate, flight path and side slip angles. The power required to fly helicopter at forward flight with several flight path angles is determined. The flight path angle required for helicopter autorotation condition is calculated at any forward speed. The mathematical model is solved by numerical integration (Runge-Kutta method) in the simulation code. The resulting trim conditions are verified by supplying the trim control inputs to the simulation code and verifying that the helicopter is flying in steady-state.