Machine Vision & Robotics


Graduation projects span two semesters, and are required in order for students to receive their Bachelor of Science degrees. The following are graduation projects I have advised. This page aims to attract funding, project ideas, and student interest.

Project Ideas
  • Build a ground robot that uses omni-directional wheels (see video)
  • Create a machine vision solution to monitor the quality of some manufactured products
  • Develop a device to measure blood sugar without drawing blood
  • Develop a remote sensing UAV with live video feedback of visual or other data
  • Implement a fuel injection system for the Asender rotary engine using Megasquirt components (video)
  • Develop a new way (using current sensing) to automatically fill water tanks in residential settings
  • Develop a wind turbine for rooftops in Jordan (see animation)
  • Develop a thermal power generator for roorfops in Jordan (Sterling Engine video)

Thought Controller Robotic Arm Prosthesis 
Department: Mechatronics Engineering
Students: Ali Yemek, Abdallah Haj-Abed
Advisor: Dr. Nathir Rawashdeh 
Time frame: Jan 2011 - Aug 2011
Funding: Personal
Description: This project used a commercial kit (electrode-cap) to read brain signals that were classified into thoughts. The thoughts were then used to move and prosthetic arm with elbow, wrist and hand joints. A force sensor was used to control the grip strength to implement the capability of grabbing fragile items, such as an egg, without breaking it.


Competition Specific Intelligent Ground Vehicle
Department: Mechatronics Engineering
Students: Ahmad Bino, Tariq Adaileh, Hudaifah Jasim (volunteer) 
Advisors: Dr. Nathir Rawashdeh 
Time frame: September 2010 - May 2011
Funding: KAFDKADDB, and GJU
Description: Build an intelligent ground vehicle to compete at the annual Intelligent Ground Vehicle Competition (IGVC) held at Oakland University in Michigan, USA in June 2011. The vehicle must autonomously navigate a delineated path on grass and avoid obstacles.

Jo-Car UGV and Team     Jo-Car Table at IGVC 2011


Teleoperated Hexapod Walking Robot Platform
Department: Mechatronics Engineering
Students: Tareq Mamkegh, Mohammad Al-Ja'abary, Ahmad Hindash 
Advisors: Dr. Nathir Rawashdeh 
Time frame: September 2010 - May 2011
Funding: personal
Description: Build a hexapod, i.e. walking robot with six legs, that can be controlled using a hand-held wireless controller. The robot serves a a platform that can navigate rough terrain and carry medium sized loads in a search and rescue operation for example. The navigation utilizes force sensors and the legs coupled with a level-walking algorithm. To ensure the capability of carrying loads, the servor motors composing the legs are chosen to have metall gears. 


Click the image to see an animation                                          Final Robot at the Defense                                       




Microcontroller-Based Heliostat Control for Solar Applications
Department: Energy Engineering, Mechatronics Engineering
Students: Zaid Jildeh
Advisors: Dr. Mohammad Al-Addous, Dr. Nathir Rawashdeh 
Time frame: Jan/2010 - Jan/2011 (completed)
Funding: personal
Description: The goal of this project was to develop a heliostatic mirror using commercial electrical parts and to control them using a microcontroller C-based code. This mirror focuses the sun's rays onto a point, such as a boiler tower, as it moves across the sky over the course of the day. The power source is a solar cell to ensure deployability. The project's main advantage is that it could be used in different applications, as focusing the suns rays on to a power plant boiler, a domestic solar water heater, or fiber optic cord for illumination. The controller uses information about the arrays location, orientation, and the local time, to calculate the sun's path in the sky and positions the mirror array such that the sun's rays are reflected onto a focal point. The controller also includes a display for easy programming and stepper motors that move the mirror array.

 A Solar Power Plant in USA                     See test video here                             

  



Balancing Personal Transporter
Department: Mechatronics Engineering
Students: Malik Sabbah
Advisors: Dr. Nathir Rawashdeh 
Time frame: February 2010 - January 2011 (completed)
Funding: personal
Description: This projects aimed to build a two wheeled transporter, like the well known "Segway". It consists of a base for the user to stand on and controls to move forward, backward and turn. It poses an "inverted pendulum" control problem, where the electronics, and motor system must balance the carried user vertically (zero angle) when standing, and at an appropriate (non-zero) angle when moving.

The commercially available Segway (video)      See a test video here                     The Final Transporter




Robochess
Department: Mechatronics Engineering
Students: Hamzeh Momani, Tarek Al-Qudah, Adib Kilani.
Advisors: Dr. Nathir Rawashdeh 
Time frame: February 2010 - August 2010 (completed)
Funding: personal
Description: This project involves building a robotic arm that can manipulate chess pieces, controlled by a computer running a chess game program. The final setup is a chess game table that enables a human to play with the robot. Challenges include interfacing with the chess software game, developing and controlling a mechanical arm and gripper, and sensing the human player's moves.
  
  Intelligent Chess Board   Arm & magnetic gripper        Project Poster


















Quadrotor UAV
Department: Mechatronics Engineering
Students: Abdalla Zaid Alkilani, Saifallah Qasim
Advisors: Dr. Mohammad Nazzal, Dr. Nathir Rawashdeh
Time frame: Sep/2009 - May/2010 (completed)
Funding: personal + Deutscher Akademischer Austausch Dienst (DAAD)
Description: The objective is to build a quadrotor helicopter using commercial electrical parts. The innovations required by the students are the design and implementation of a light air-frame as well as the electrical interface with and programming of a micro controller to drive the propellers and implement control loops to automatically stabilize the quadrotor. For example, when the RC pilot moves the lever to go up, the micro controller has to power the four propellers to generate vertical lift, while mitigating disturbances from air currents and component performance variations.
Results:
   Some of the purchased parts    Single Propeller Control     Completed 02/2010         The award trophy
   



 
 
 
 
 







Autonomous Ground Vehicle

Department: Mechatronics Engineering
Students: Rabee Al-Gharableh, Emad Al-Ibraheem
Advisors: Dr. Nathir Rawashdeh
Time frame: Sep/2009 - May/2010 (completed)
Funding: 1500 JD, German Jordanian University
Description: Thisproject aims to build an autonomous ground robot that can compete in the Annual Intelligent Ground Vehicle Competition (IGVC), held in June 2010, at Oakland University in Michigan, USA. Our ground vehicle will use image processing to detect the edges of the path and stay within the lane, and a laser range finder to detect obstacles within the path, as well as, a micro controller to actuate the drive motors. We want to base the vehicle on an electric wheel chair to ensure off-road travel capability and because it has two motors that we can easily control by hacking the chair’s joy-stick controller.  
Results:
  • See a video of various development stages : 10 may 2010 video
  • The lack of funds prohibited us from attending IGVC 2010
  Serial Link Debugging          Dr.Nathir, Rabee & Emad    


Mine Detection Rover
Department: Mechatronics Engineering
Students: Mohammad Bani Mustafa, Anas Kanakri, Arkan Al-Shergatli
Advisors: Dr. Nathir Rawashdeh, Dr. Mohammad Nazzal
Time frame: Sep/2009 - May/2010 (completed)
Funding: personal
Description: The goal of this project is to build a platform for controlling an robot remotely from a computer. On this platform the user can use the keyboard keys to drive the robot for example, while getting video feedback on the screen and triggering sensors and actuators. Example applications of such an interface include search and rescue ground robots, unmanned airplanes and submarines. In our case, the students will build a land-mine detection ground robot that can be driven and used to probe the earth for land-mines and flag potentially dangerous locations.
 
 Treads and Drive Motor  Wireless Video Link           Final Rover Platform             
      

















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