Abdelkhalick Mohammad

Contact

• workRoom B37 Advanced Manufacturing Buillding
  Jubilee Campus
  Wollaton Road
  Nottingham
  NG8 1BB
  UK
• work+44 (0) 1159586856
• fax+44 (0) 115 9513800
• Abd.Mohammad1@nottingham.ac.uk

Teaching Summary

Teaching the following undergraduate courses:

• Introduction to Robotics
• Robotics
• Industrial Process Control
• Measurements and Measurements Devices
• CNC Machines
• Mechatronics System Design
• Mechatronics laboratories

In addition to the following postgraduate courses:

• Advanced Automatic Control
• Advanced Measurement
• Advanced Topics in Mechatronics Engineering

Research Summary

Continuum robot for is-situ inspection

Recent Publications

• FANG, Y., DONG, X., MOHAMMAD, A. and AXINTE, D., 2023. Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System: IEEE/ASME Transactions on Mechatronics IEEE/ASME Transactions on Mechatronics. 1-12
• PICAVEA, J., MOHAMMAD, A., GAMEROS, A., YANG, J. and AXINTE, D., 2023. Synergistic integration of vibration absorption and damping into 3D-printed fixtures for thin-wall machining: CIRP Annals CIRP Annals.
• DONG, X., WANG, M., MOHAMMAD, A., BA, W., RUSSO, M., NORTON, A., KELL, J. and AXINTE, D., 2022. Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments: IEEE/ASME Transactions on Mechatronics IEEE/ASME Transactions on Mechatronics.
• ATIA, M. G. B., MOHAMMAD, A., GAMEROS, A., AXINTE, D. and WRIGHT, I., 2022. Reconfigurable Soft Robots by Building Blocks: Advanced Science Advanced Science.

• View all publications

Past Research

During my postdoctoral in Nanyang Tecgnological University, Singapore, I have joined an industrial robotic project in a collaboration between A*STAR, NUS, NTU, I²R and SIM-Tech. The project consists of several work packages in an integrated way. The objective of my work package is to design and implement a robotic system to perform material removal processes for uneven surfaces with irregular material removal rates.

The ultimate goal of my research during my PhD degree was developing a control algorithm for feed drive system especially those integrated in computer numerical control (CNC) machines. The control algorithm includes accurate estimation of the tool contour error in real time and applying a nonlinear sliding mode control. The advantage of this algorithm is that it reduces the consumed energy in CNC machines which are usually operated day and night all over the world. The proposed algorithms were verified through simulation and experimental works using single, two, three and five-axis CNC machines.

In my master study at TUT, I started my research on computer numerically controlled (CNC) machines. My research work was on developing a contouring control for multi-axis feed drive system. We studied the model predictive control algorithm and applied it to my research topic. The proposed algorithms were verified through simulation and experimental works using biaxial feed drive system. In addition, I have developed a new definition of tool orientation in five-axis machining tasks.

• FANG, Y., DONG, X., MOHAMMAD, A. and AXINTE, D., 2023. Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System: IEEE/ASME Transactions on Mechatronics IEEE/ASME Transactions on Mechatronics. 1-12
• PICAVEA, J., MOHAMMAD, A., GAMEROS, A., YANG, J. and AXINTE, D., 2023. Synergistic integration of vibration absorption and damping into 3D-printed fixtures for thin-wall machining: CIRP Annals CIRP Annals.
• DONG, X., WANG, M., MOHAMMAD, A., BA, W., RUSSO, M., NORTON, A., KELL, J. and AXINTE, D., 2022. Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments: IEEE/ASME Transactions on Mechatronics IEEE/ASME Transactions on Mechatronics.
• ATIA, M. G. B., MOHAMMAD, A., GAMEROS, A., AXINTE, D. and WRIGHT, I., 2022. Reconfigurable Soft Robots by Building Blocks: Advanced Science Advanced Science.
• TRONCOSO, D. A., ROBLES-LINARES, J. A., RUSSO, M., ELBANNA, M. A., WILD, S., DONG, X., MOHAMMAD, A., KELL, J., NORTON, A. D. and AXINTE, D., 2022. A Continuum Robot for Remote Applications: From Industrial to Medical Surgery With Slender Continuum Robots: IEEE Robotics and Automation Magazine IEEE Robotics and Automation Magazine. 2-13
• MOHAMMAD, A., RUSSO, M., FANG, Y., DONG, X., AXINTE, D. and KELL, J., 2021. An efficient follow-the-leader strategy for continuum robot navigation and coiling: IEEE Robotics and Automation Letters IEEE Robotics and Automation Letters.
• RUSSO, M., SRIRATANASAK, N., BA, W., DONG, X., MOHAMMAD, A. and AXINTE, D., 2021. Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator: IEEE Robotics and Automation Letters Ieee Robotics and Automation Letters.
• MOHSIN, I., HE, K., WENLIANG, Z. and LI, Z., 2020. Robotic Polishing of the Thin Plate Eyeglasses frame under Effective Path Planning and Stable Force
• MOHAMMAD, ABD EL KHALICK, HONG, JIE, WANG, DANWEI and GUAN, YISHENG, 2019. Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING. 55, 65-75
• MOHAMMAD, ABD EL KHALICK, HONG, JIE and WANG, DANWEI, 2018. Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING. 49, 54-65
• MOHAMMAD, ABD EL KHALICK, HONG, JIE and WANG, DANWEI, 2017. Polishing of uneven surfaces using industrial robots based on neural network and genetic algorithm INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY. 93(1-4), 1463-1471
• MOHAMMAD, ABD EL KHALICK and WANG, DANWEI, 2016. Electrochemical mechanical polishing technology: recent developments and future research and industrial needs INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY. 86(5-8), 1909-1924
• MOHAMMAD, ABD EL KHALICK and WANG, DANWEI, 2015. A Novel Mechatronics Design of An Electrochemical Mechanical End-Effector for Robotic-Based Surface Polishing 2015 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII). 127-133
• UCHIYAMA, NAOKI, OGAWA, YUKI, ABD EL KHALICK, M. and SANO, SHIGENORI, 2015. Energy Saving in Five-Axis Machine Tools Using Synchronous and Contouring Control and Verification by Machining Experiment IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS. 62(9), 5608-5618
• MOHAMMAD, ABD EL KHALICK A. M., UCHIYAMA, NAOKI and SANO, SHIGENORI, 2015. Energy Saving in Feed Drive Systems Using Sliding-Mode-Based Contouring Control With a Nonlinear Sliding Surface IEEE-ASME TRANSACTIONS ON MECHATRONICS. 20(2), 572-579
• EL KHALICK M, A., UCHIYAMA, NAOKI and SANO, SHIGENORI, 2014. Sliding Mode Contouring Control for Biaxial Feed Drive Systems with a Nonlinear Sliding Surface 6TH CIRP INTERNATIONAL CONFERENCE ON HIGH PERFORMANCE CUTTING (HPC2014). 14, 506-510
• MOHAMMAD, A. E. K., UCHIYAMA, N. and SANO, S., 2014. Reduction of electrical energy consumed by feed-drive systems using sliding-mode control with a nonlinear sliding surface: IEEE Transactions on Industrial Electronics IEEE Transactions on Industrial Electronics. 61(6), 2875-2882
• UCHIYAMA, NAOKI, OGAWA, YUKI, EL KHALICK, A. M., SANO, SHIGENORI and YAMAZAKI, KAZUO, 2013. Energy Saving Control in Five-Axis Machine Tools Using Contouring Control 2013 EUROPEAN CONTROL CONFERENCE (ECC). 797-802
• EL KHALICK, A. M., UCHIYAMA, NAOKI and SANO, SHIGENORI, 2013. Reduction of Control Input Variance of Feed Drive Systems Using Sliding-Mode Control with Non-linear Sliding Surface 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM).
• EL KHALICK M, A. and UCHIYAMA, NAOKI, 2013. Estimation of tool orientation contour errors for five-axis machining ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING. 29(5), 271-277
• EL KHALICK, A., UCHIYAMA, M. NAOKI and SANO, SHIGENORI, 2013. Sliding mode contouring control design using nonlinear sliding surface for three-dimensional machining INTERNATIONAL JOURNAL OF MACHINE TOOLS & MANUFACTURE. 65, 8-14
• EL KHALICK, A. M., UCHIYAMA, NAOKI and SANO, SHIGENORI, 2012. Synchronization of Tool Tip and Tool Orientation Contour Errors in Five-Axis Machining 2012 AMERICAN CONTROL CONFERENCE (ACC). 4594-4598
• EL KHALICK M, A. and UCHIYAMA, NAOKI, 2011. Discrete-time model predictive contouring control for biaxial feed drive systems and experimental verification MECHATRONICS. 21(6), 918-926
• EL KHALICK M, A. and UCHIYAMA, NAOKI, 2011. Contouring controller design based on iterative contour error estimation for three-dimensional machining ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING. 27(4), 802-807
• JIE HONG and MOHAMMAD ABDELKHALICK, Improved Design of The End-Effector for Macro-Mini Robotic Polishing Systems In: Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering. 36-41
• MOHAMMAD ABDELKHALICK, Model predictive approach to precision contouring control for feed drive systems Journal of Computer Science.
• MOHAMMAD ABDELKHALICK and NAOKI UCHIYAMA, Sliding Mode Contouring Controller with A Nonlinear Sliding Surface and A Disturbance Observer for Five-Axis Machining Tasks In: Proceedings of International Conference on Leading Edge Manufacturing in 21st century: LEM21.
• MOHAMMAD ABDELKHALICK, Model Predictive Contouring Control for Biaxial Feed Drive Systems Based on Coordinate Transformation In: International Symposium on Flexible Automation, ASME;.