Preface
This book presents the proceedings of the first international congress, for the
advancement of mechanism machine robotics and mechatronics sciences, held in
Beirut during October 2017. This conference was organized by the Faculty of
Engineering at the Lebanese University and the Lebanese Federation to Mechanism
and Machine Sciences, the official delegation of the IFToMM in Lebanon. The
conference was under the responsibility of Dr. Rany Rizk the conference chair. It
was a part of the engineering job fair organized by the alumni of the faculty of
engineering. During this job fair, a mechatronics competition for the students was
organized by the mechatronics club of the faculty of engineering of the Lebanese
University. The main goal of the conference was to assemble the largest number of
students, researchers, businessmen and industrialists.
The book presents 20 recent research works in six different fields. It covers
multiple corners of the machine and robotics sciences. It contains works about
mechanical design, control, structural synthesis, vibration study and manufacturing.
It is a useful material for mechanical as well as for electrical engineers. Works
included in the book present high scientist methodology which makes it interesting
for researchers. The scientific committee members have reviewed all the papers,
each paper was reviewed by at least two specialized reviewers. The percentage of
acceptance was about 75% based on the standard IFToMM evaluation criteria.
Temperature Effects of the Machinery and Innovation in the Engineering
First two chapters present the effect of the temperature on the manufacturing and the
machine elements, mainly the cyclic loading due to the temperature fluctuation.
Third chapter presents a new method about wireless sensor network. Fourth and
fifth chapters are about two innovative devices developed for industrial
applications.
Biomedical Engineering
This part contains three chapters in the domain of biomedical engineering, a
modelling of biologically inspired structure and two exoskeletons, one for upper
and one for lower limb.
Four works about a new absorber and effects of the vibrations of the machine
elements are presented.
Five very interesting works about mechanical design and control of parallel
mechanisms and pulley systems are developed. All these works are new to the
literature and have a real scientific scoop.
Quadcopter and Mobile Robots
Four interesting works, about different methods of control and localization, are
done with high professionalism and scientist methodology.
Finally the book is simultaneously, reach in its contents and short in its volume.
Acknowledgements
This work would not have appeared without the support of several persons and
companies. We have to support the Lebanese ministry of industry, mainly the
minister who participated personally in the opening. Special thanks to the Faculty
of Engineering of the Lebanese University mainly to the Dean who support greatly
the conference. We thank also the Lebanese association for the advancement of
sciences and the IFToMM.
Of course great thanks for all the sponsors, the Alumni of the faculty of engineering
and the AUF (French agency for francophone universities). Finally special
thanks for the reader and happy reading.
Contents
Part I Temperature Effects of the Machinery
On the Validation of the Proper Generalized Decomposition
Method with Finite Element Method: 3D Heat Problem
Under Cyclic Loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
A. AL Takash, M. Beringhier, M. Hammoud and J. C. Grandidier
Qualification and Validation of an in-situ Measurement Method
of the Machining Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
D. Kara Ali, N. Benhadji Serradj and M. E. A. Ghernaout
Part II Innovation in the Engineering
Simple On-Line Single-View Video Summarization for
Machine-to-Machine Wireless Multimedia Sensor Network . . . . . . . . . . 31
Thanaa Jbeily, Iyad Hatem, Mothanna Alkubeily and Yacine Challal
Design and Development of a Pipeline Inspection Robot . . . . . . . . . . . . 43
M. Roussialian, H. Al Zanbarakji, A. Khawand, A. Rahal and M. Owayjan
Developing a Sensorless Sun Tracker for PV Panels . . . . . . . . . . . . . . . 53
B. Nehme, A. Fenianos and T. Akiki
Part III Biomedical Engineering
Modelling the Deformation of Biologically Inspired Flexible
Structures for Needle Steering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
T. Watts, R. Secoli and F. Rodriguez y Baena
On Control Design for a Lower Limb Orthosis: A Comparative
Study in Different Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . 81
N. Roula, A. Chemori, R. Rizk and Y. Zaatar
Robustness Analysis of an Upper Limb Exoskeleton Controlled
by Sliding Mode Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Sana Bembli, Nahla Khraief Haddad and Safya Belghith
Part IV Vibrations
Coupled Magnetic and CFD Modelling of a Structural
Magnetorheological Vibration Absorber with Experimental
Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
M. Kemerli, T. Engin and Z. Parlak
Self-running Fault Diagnosis Method for Rolling
Element Bearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
S. Kass, A. Raad and J. Antoni
Effects of Yoke Thickness Change on the Vibration Behavior of an
Electric Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
H. Issa, N. Khishen, F. Druesne, J. Hallal, M. Hammoud and A. Hallal
Part V Mechanisms and Control
From Non-model-Based to Model-Based Control of PKMs:
A Comparative Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
H. Saied, A. Chemori, M. El Rafei, C. Francis and F. Pierrot
Parallel Robot Integration and Synchronization in a Waste Sorting
System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
E. Mokled, G. Chartouni, C. Kassis and R. Rizk
Creative Design of 2-DOF, 7-Link Multiloop Robotic Mechanisms . . . . 189
Vladimir Pozhbelko and Ekaterina Kuts
Structural Synthesis of 1-DOF up to 5-Loop Kinematic Chains
with Multiple Joints and Its Analysis in Robotics . . . . . . . . . . . . . . . . . 201
Ekaterina Kuts, Dmitry Kuts and Vladimir Pozhbelko
New Cable Driven Wrist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
E. Backri Kasbah, M. Rizk, C. Kassis and R. Rizk
Part VI Quadcopters and Mobile Robots
Active Fault-Tolerant Control of Quadrotor UAVs Based on Passive
Controller Bank . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Abdel-Razzak Merheb and Hassan Noura
Low-Cost Quadcopter Indoor Positioning System Based on Image
Processing and Neural Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
I. Hatem, M. Jamal, Y. Murhij and Z. Ali
UKF-Assisted SLAM for 4WDDMR Localization and Mapping . . . . . . 259
Abdulkader Joukhadar, Dalia Kass Hanna, Andreas Müller
and Christoph Stöger
Trajectory Tracking Control of a Quadcopter UAV Using
Nonlinear Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Abdulkader Joukhadar, Mohammad AlChehabi, Christoph Stöger
and Andreas Müller
Contents
