Design and Workspace Analysis of a New Endoscopic Parallel Manipulator

Khalil Ibrahim,Ahmed Ramadan,M. Fanni,Yo Kobayashi,A. A. Abo-Ismail,Masakatus G. Fujie 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Based on the concept of virtual chain and screw theory, previous endoscopic parallel manipulators are deeply investigated to put their synthesis in a systematic rigorous procedure that helps in proposing the new 4-DOF endoscopic parallel manipulator. The inverse and forward kinematics solutions are derived analytically and numerically respectively. The known problem of limited bending angles was solved in the proposed manipulator as it can reach ± 90o in any direction. The proposed manipulator consists of four legs; two legs are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two legs are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). Four linear motors are used to drive the mechanism. The performance is investigated through simulation by ADAMS software. Dexterous workspace is obtained and this validates the advantageous bending capability of the new proposed manipulator compared to previous ones.

Simulation Control of an Active Suspension System Using Fuzzy control & H<SUB>∞</SUB> Control Methods

Khalil Ibrahim,Nouby Ghazaly,Ahmed S.Ali 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10

The motor vehicles industry has shown a mechatronic system with intelligent and autonomous properties. The mechatronics system is integration of hardware components, implementation of advance control function characterize and information technology. Vehicle suspensions systems typically rated by its ability to provide good road handling and improve passenger comfort. Active suspension poses the ability to reduce the traditional design as a compromise between handling and comfort by directly controlling the suspensions force actuators. The mathematical model for the passive and active suspensions systems for quarter car model is proposed. This paper describes fuzzy and H∞ techniques for the automobile active suspension system. The design objective is to provide smooth vertical motion so as to achieve the road holding and riding comfort over a wide range of road profiles. The objective of the proposed control schemes is demonstrated via simulations. The simulation results of the different controllers are compared by using MATLAB/SIMULINK toolbox. Results demonstrate the effectiveness and usefulness of the proposed control method. The simulation results indicate that the proposed active suspension of fuzzy logic control is very effective than the other techniques.

Graphene metal nanocomposites — Recent progress in electrochemical biosensing applications

Ibrahim Khalil,Shahrooz Rahmati,Nurhidayatullaili Muhd Julkapli,Wageeh A. Yehye 한국공업화학회 2018 Journal of Industrial and Engineering Chemistry Vol.59 No.-

The integration of metal, metal oxides or metal alloy nanostructures with graphene increases the surface area, active sites for binding analytes, conductivity as well as mechanical strength of the biosensor. Graphene-metallic nanocomposites by their synergistic effect exhibit greater sensitivity for the detection of a variety of biomolecules. Herein, this review addresses the most recent progress on the design and fabrication of graphene metallic nano-biointerfaces in electrochemical biosensing, detection of biomolecules ranging from most common analytes to sophisticated molecules with greater sensitivity as well as good selectivity from the real-time sample in presence of common interfering substances.

New Coordination Approach to Minimize the Number of Re-adjusted Relays When Adding DGs in Interconnected Power Systems

Ibrahim, Doaa Khalil,El Zahab, Essam El Din Abo,Aziz Mostafa, Saadoun Abd El The Korean Institute of Electrical Engineers 2017 Journal of Electrical Engineering & Technology Vol.12 No.2

The presence of DGs in power system networks tends to negatively affect the protective relays coordination. The proposed method introduces an approach to minimize the numbers of relays that acquire new settings on contrary to their original settings (case without DG), to achieve relays coordination in case of adding DG, since relays coordination with minimum number of relays of re-adjusted settings represents economical target, especially in networks containing mixture of electromechanical and adaptive digital relays. The scheme decides the possible minimum number of re-adjusted relays and their locations in an optimum manner to achieve proper relays coordination in case of adding DGs. The proposed approach is divided into two successive phases; the first phase is stopped when the first relays coordination solution is achieved. The second phase increases the possibility to keep higher number of relays at their original settings than that obtained in first phase through achieving multi solutions of relays coordination. The proposed approach is implemented and effectively tested on the well-known IEEE-39 bus test system.

Challenges and Opportunities of Big Data

Md Ibrahim Khalil,R. Young Chul Kim,ChaeYun Seo ICT플랫폼학회 2020 JOURNAL OF PLATFORM TECHNOLOGY Vol.8 No.2

New Coordination Approach to Minimize the Number of Re-adjusted Relays When Adding DGs in Interconnected Power Systems

Doaa Khalil Ibrahim,Essam El Din Abo El Zahab,Saadoun Abd El Aziz Mostafa 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.2

The presence of DGs in power system networks tends to negatively affect the protective relays coordination. The proposed method introduces an approach to minimize the numbers of relays that acquire new settings on contrary to their original settings (case without DG), to achieve relays coordination in case of adding DG, since relays coordination with minimum number of relays of readjusted settings represents economical target, especially in networks containing mixture of electromechanical and adaptive digital relays. The scheme decides the possible minimum number of re-adjusted relays and their locations in an optimum manner to achieve proper relays coordination in case of adding DGs. The proposed approach is divided into two successive phases; the first phase is stopped when the first relays coordination solution is achieved. The second phase increases the possibility to keep higher number of relays at their original settings than that obtained in first phase through achieving multi solutions of relays coordination. The proposed approach is implemented and effectively tested on the well-known IEEE-39 bus test system.

Effects of Tobacco Smoking on the Dorsum of the Tongue and Buccal Epithelium

Al Shammari, Abdullah Faraj,AL Ibrahim, Ibrahim Khalil,Alaauldeen, Amjad Ibrahim,Merza, Randa Fouad,Ahmed, Hussain Gadelkarim Asian Pacific Journal of Cancer Prevention 2016 Asian Pacific journal of cancer prevention Vol.17 No.10

Objective: The aim of this study was to assess the effects of tobacco smoking on the dorsum of the tongue and buccal epithelium. Methodology: This case control cross-sectional study was conducted with 174 smoking and non-smoking volunteers living in the city of Hail, Northern KSA. Cytological Materials were obtained from buccal mucosa and dorsum of the tongue, and assessed using cytopathological methods. Results: In buccal smears, cytological atypia was observed in 17 out of 101 (16.8%) smoker cases but only 3/73(4.1%) of the controls. For cytological atypia in buccal and tongue smears, the adjusted odd ratio (OR) and the 95% confidence interval (CI) were found to be 4.7 (1.3-16.8), P < 0.016)) and 4.3 (0.93- 20.2), P <0.06)), respectively, in the two sites. Conclusion: Tobacco smoking is a major risk factor for occurrence of cytological atypia, which might subsequently develop into oral precancerous and cancerous lesions. Oral exfoliative cytology is an easy and cheap non-invasive procedure which appears highly suitable for screening populations at risk of developing oral cancer.

Crop Residues Management for Rice-Wheat Cropping System in Saline-Sodic Soil

Khalil Ahmed,Ghulam Qadir,Abdul-Rehman Jami,Hafeezullah Rafa,Muhammad Aamer Mehmood,Kyung-Hwa Han,Muhammad Ibrahim 한국토양비료학회 2014 한국토양비료학회지 Vol.47 No.4

Series of field experiments were conducted to evaluate the long term effect of gypsum and crop residue on crop yield and soil health in rice-wheat crop rotation system in salt affected soil. A saline-sodic field having ECe (electrical conductivity of the saturation extract) 4.77 (dS m<SUP>-1</SUP>); pH (H₂O) 8.96; SAR 43.78 (mmol L<SUP>-1</SUP>) and gypsum requirement (G.R.) 2.86 (Mg acre<SUP>-1</SUP>) was selected on Soil Salinity Research Institute Farm. Five treatments consisting of (T₁) control, (T₂) gypsum at 100% G.R., (T₃) gypsum at 25% G.R. + wheat straw at 3 Mg ha<SUP>-1</SUP>, (T₄) gypsum at 25% G.R. + rice straw at 3 Mg ha<SUP>-1</SUP>, (T?) gypsum at 25% G.R.+ rice and wheat straw at 3 Mg ha<SUP>-1</SUP> were replicated four times under completely randomized block design. The data indicated that grain and straw yield of rice and wheat was significantly (P<0.05) increased by all the amendments used either single or in combination. T₂ (gypsum at 100% G.R.) significantly (P<0.05) increased grain and straw yield of rice and wheat crops followed by T₃ (gypsum at 25% G.R. + wheat straw at 3 Mg ha<SUP>-1</SUP>) when compared with control. Soil properties were also improved by used amendments, pronounced decreased in ECe, pHs and SAR were recorded in T₂ followed by T₃. The efficiency of the treatments could be arranged in following order gypsum at 100% G.R.> gypsum at 25% G.R. + wheat straw at 3 Mg ha<SUP>-1</SUP>> gypsum at 25% G.R. + rice and wheat straw at 3 Mg ha<SUP>-1</SUP>> gypsum at 25% G.R. + rice straw at 3 Mg ha<SUP>-1</SUP>> control.

Crop Residues Management for Rice-Wheat Cropping System in Saline-Sodic Soil

Ahmed, Khalil,Qadir, Ghulam,Jami, Abdul-Rehman,Rafa, Hafeezullah,Mehmood, Muhammad Aamer,Han, Kyung-Hwa,Ibrahim, Muhammad Korean Society of Soil Science and Fertilizer 2014 한국토양비료학회지 Vol.47 No.4

Series of field experiments were conducted to evaluate the long term effect of gypsum and crop residue on crop yield and soil health in rice-wheat crop rotation system in salt affected soil. A saline-sodic field having $EC_e$ (electrical conductivity of the saturation extract) 4.77 ($dSm^{-1}$); pH ($H_2O$) 8.96; SAR 43.78 ($mmol\;L^{-1}$) and gypsum requirement (G.R.) 2.86 (Mg $acre^{-1}$) was selected on Soil Salinity Research Institute Farm. Five treatments consisting of ($T_1$) control, ($T_2$) gypsum at 100% G.R., ($T_3$) gypsum at 25% G.R. + wheat straw at $3Mg\;ha^{-1}$, ($T_4$) gypsum at 25% G.R. + rice straw at $3Mg\;ha^{-1}$, ($T_5$) gypsum at 25% G.R.+ rice and wheat straw at $3Mg\;ha^{-1}$ were replicated four times under completely randomized block design. The data indicated that grain and straw yield of rice and wheat was significantly (P<0.05) increased by all the amendments used either single or in combination. $T_2$ (gypsum at 100% G.R.) significantly (P<0.05) increased grain and straw yield of rice and wheat crops followed by $T_3$ (gypsum at 25% G.R. + wheat straw at $3Mg\;ha^{-1}$) when compared with control. Soil properties were also improved by used amendments, pronounced decreased in $EC_e$, $pH_s$ and SAR were recorded in $T_2$ followed by $T_3$. The efficiency of the treatments could be arranged in following order gypsum at 100% G.R.> gypsum at 25% G.R. + wheat straw at $3Mg\;ha^{-1}$ > gypsum at 25% G.R. + rice and wheat straw at $3Mg\;ha^{-1}$ > gypsum at 25% G.R. + rice straw at $3Mg\;ha^{-1}$ > control.

Facile synthesis of GO@SnO₂/TiO₂ nanofibers and their behavior in photovoltaics

Mohamed, Ibrahim M.A.,Dao, Van-Duong,Yasin, Ahmed S.,Choi, Ho-Suk,Khalil, KhalilAbdelrazek,Barakat, Nasser A.M. Elsevier 2017 JOURNAL OF COLLOID AND INTERFACE SCIENCE - Vol.490 No.-

<P><B>Abstract</B></P> <P>Chemical doping is a widely-used strategy to improve the performance of TiO<SUB>2</SUB> for the dye-sensitized solar cells (DSCs). However, the effect of two efficient dopants has been rarely investigated. We present the synthesis of GO@SnO<SUB>2</SUB>/TiO<SUB>2</SUB> nanofibers (NFs) by a facile method using electrospinning and hydrothermal processes. The synthesized NFs are described in terms of morphology, crystallinity and chemistry through FESEM, TEM, HR-TEM, XRD, EDX, XPS, FT-IR and Raman spectra. As the results, the axial ratio and the average diameter of NFs decreased after the hydrothermal treatment and calcination process, respectively. The prepared Titania-based nanofibers have 81.82% anatase and 18.18% rutile-structure. The developed materials are applied as working electrodes of DSCs. The photovoltaic performances showed that the efficiency of the device employed GO@SnO<SUB>2</SUB>/TiO<SUB>2</SUB> photoanode gave 5.41%, which was higher than those of cells fabricated with SnO<SUB>2</SUB>/TiO<SUB>2</SUB> NFs (3.41%) and GO@TiO<SUB>2</SUB> NFs (4.52%) photoanodes. The photovoltaic parameters such as J<SUB>sc</SUB>, V<SUB>oc</SUB>, FF and R<SUB>ct</SUB> are calculated and found to be 11.19mAcm<SUP>−2</SUP>, 0.72V, 0.67 and 9.26Ω, respectively. The high photovoltaic response of DSC based of GO@SnO<SUB>2</SUB>/TiO<SUB>2</SUB> NFs may be attributed to the large surface area of the NFs, and the low electron recombination. Furthermore, the start-stop switches of the cell devices with the developed photoanode affirmed the stability and photovoltaic performance of the cell.</P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>