Main Objectives:

1. Precisely manipulate a payload using multiple robotic manipulators.

2. Navigate a cluttered environment safely (collision avoidance).

3. Deliver payloads to destinations beyond the workspace of the manipulators.

4. Design energy-efficient trajectories and controllers for the manipulation process.

Videos:

• Collaborative Manipulation: https://youtu.be/zEhwddJ3f6w 

• Coffee Serving Robot: https://youtu.be/2vtPPZi4Iko 

Main Objectives:

1. Design precise controllers for a system of UAVs with cable-suspended payloads.

2. Mitigate payload vibrations using control design approaches.

3. Design robust controllers to reject unknown disturbances (wind, ... etc).

Publications:

1. J. Kang, J. Shan and H. Alkomy , “Control Framework for a UAV Slung-Payload Transportation System,” IEEE Control Systems Letters, vol. 7, pp. 2473-2478, 2023. DOI: https://doi.org/10.1109/LCSYS.2023.3285421

Test Video:

https://www.youtube.com/watch?v=8LQngOfhGb0 

Main Objectives:

1. Obtain high-resolution measurements of molecular oxygen using a miniature imaging Fabry-Perot spectrometer.

2. Collect data from a real space mission (successfully launched from the base at Timmins, Ontario, Canada).

Main Objectives:

1. Design a deployable mast for lunar communication network.

2. Consider different risk mitigation options.

Main Objectives:

1. Develop an energy model for quadrotors.

2. Investigate the effect of polynomial trajectories on quadrotor's energy consumption.

3. Propose a trajectory-based energy-saving strategy for quadrotors.

Publications:

1. H. Alkomy and J. Shan, “Investigating the Effects of Polynomial Trajectories on Energy Consumption of Quadrotors,” IEEE/ASME Transactions on Mechatronics, vol. 28, no. 3, pp. 1593-1604, 2022. DOI: https://doi.org/10.1109/TMECH.2022.3220086

Test Video:

https://www.youtube.com/watch?v=HtGvK6vBuQY 

https://www.youtube.com/watch?v=G6SbfXhPz7I 

Main Objectives:

1. Develop an energy model for quadrotors with slung payload.

2. Propose a trajectory-based energy-saving strategy for quadrotors with slung payload.

3. Design a robust energy-saving controller for quadrotors with slung payload.

Related Publications:

1. H. Alkomy and J. Shan, “Quadrotors with Slung Payloads: Energy Analysis and Experimental Validation,” The International Conference on Unmanned Aircraft Systems (ICUAS), Warsaw, Poland, 2023. DOI: https://doi.org/10.1109/ICUAS57906.2023.10156270

2. H. Alkomy and J. Shan, “An Energy Analysis of Quadrotors with Cable-Suspended Payloads,” The International Conference on Unmanned Aircraft Systems (ICUAS), Dubrovnik, Croatia, 2022. DOI: https://doi.org/10.1109/ICUAS54217.2022.9836169

Test Video:

https://www.youtube.com/watch?v=doJK_rkFmDc 

https://www.youtube.com/watch?v=IesnUTcBR9U

Main Objectives:

1. Propose a trajectory-based payload vibration reduction for quadrotors with slung payload.

2. Analyze the effect of polynomial trajectories on payload vibrations.

3. Make an analogy between quadrotors with slung payloads and car suspension systems.

4. Use this analogy to provide a second stage of payload vibration reduction.

Related Publications:

1. H. Alkomy and J. Shan, “Vibration Reduction of a Quadrotor with a Cable-Suspended Payload Using Polynomial Trajectories,” Nonlinear Dynamics, vol. 104, no. 4, pp. 3713–3735, 2021. DOI: https://doi.org/10.1007/s11071-021-06464-6 

Test Video:

https://www.youtube.com/watch?v=6umbq97AK00 

Main Objectives:

1. Develop a generic framework to generate polynomial trajectories of any degree with a large number of waypoints for a generic application.

2. Ensure trajectory feasibility for non-aggressive quadrotor flights.

3. Use polynomial trajectories to extend the kinematic capabilities of continuous-path trajectories.

Related Publications:

1. H. Alkomy and J. Shan, “Kinematically-Constrained Continuous-Path Polynomial Trajectories for Quadrotors,” in IEEE 18th International Conference on Automation Science and Engineering (CASE 2022), Mexico City, Mexico, 2022. DOI: https://doi.org/10.1109/CASE49997.2022.9926718 

Test Video:

https://www.youtube.com/watch?v=yGO-KFKxyp8 

Main Objectives:

1. Develop an accurate analytical model of micro-vibrations of reaction wheels considering bearing disturbances. 

2. Validate the developed model experimentally.

Related Publications:

1. H. Alkomy and J. Shan, “Modeling and Validation of Reaction Wheel Micro-Vibrations Considering Imbalances and Bearing Disturbances,” Journal of Sound and Vibration, vol. 492, p. 115766, 2021. DOI: https://doi.org/10.1016/j.jsv.2020.115766 

2. H. Alkomy and J. Shan, “Micro-vibration model of a reaction wheel considering wheel and bearing disturbances," in The Canadian Aeronautics and Space Institute’s Conference (ASTRO 2019), (presentation with peer-reviewed abstract), Quebec, Canada, 2019

Main Objectives:

1. Propose an approach to solve Painlevé's paradox. 

2. Study the effect of sliding robot parameters on Painlevé's paradox.

3. Study the relationship between the virtual effect of tangential impact and Painlevé's paradox for sliding robots.

Related Publications:

1. K. Mohamed, H. Elkaranshawy, A. Ashour, and H. Alkomy, “Novel methods to escape Painlevé paradox for sliding multi-body systems,” in Alexandria Engineering Journal, vol. 60, no. 1, pp. 1639-1645, 2022. DOI: https://doi.org/10.1016/j.aej.2020.11.015 

2. H. Elkaranshawy, K. Mohamed, A. Ashour, and H. Alkomy, “Solving Painlevé  Paradox: (P-R) Sliding Robot Case,” in Nonlinear Dynamics, vol. 88, no. 3, pp. 1691-1705, 2017. DOI: https://doi.org/10.1007/s11071-017-3339-y 

3. H. Alkomy, K. Mohamed, A. Ashour, and H. Elkaranshawy, “Tangential Impact for Multibody with Numerical Application on (P-R) Robot,” in Proceedings of the 26th Canadian Congress of Applied Mechanics (CANCAM), British Columbia, Canada, 2017. (Best Paper Award)

4. H. Alkomy, H. Elkaranshawy, A. Ashour, and K. Mohamed, “Effect of Robot Configuration Parameters, Masses and Friction on Painlevé Paradox for a Sliding Two-Link (P-R) Robot,” in International Journal of Mechanical and Mechatronics Engineering, vol. 9, no. 10, pp. 1737-1742 2015. https://publications.waset.org/10002480/pdf