Abdelaziz Shaarawy

University of Birmingham

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i-10 index

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Co-Authors

Rustam Stolkin

University of Birmingham

Alireza Rastegarpanah

University of Birmingham

Cansu Akdeniz

Istanbul Bilim University

Ali Aflakian

The Faraday Institution

Jamie Hathaway

University of Birmingham

Hassan Ashraf Elkholy

Nile University

Riby Abraham Boby

Indian Institute of Technology Jodhpur

Mahmoud Elsamanty

Benha University

Karam Almaghout

Innopolis University

Mostafa Othman

Swiss Center for Electronics and Microtechnology (Switzerland)

Cooperative Institutions

University of Birmingham

Nile University

The Faraday Institution

Innopolis University

Karlsruhe Institute of Technology

University of Tehran

Bristol Robotics Laboratory

Royal Society

Stevens Institute of Technology

American Society For Engineering Education

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Enhancing Robot Motion Planning in Obstacle-Dense Environments: Synergizing Gaussian Mixture Models with Rapidly-Exploring Random Trees

Abdelaziz Shaarawy Alireza Rastegarpanah Rustam Stolkin

10.2139/ssrn.5104837

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Citations (0)

Solving Inverse Kinematics of a 7-DOF Manipulator Using Convolutional Neural Network

Advances in intelligent systems and computing (2020)

Hassan Ashraf Elkholy Abdalla Saber Shahin Abdelaziz Shaarawy Hagar Marzouk Mahmoud Elsamanty

Work space

Kinematics equations

Position (finance)

Manipulator (device)

10.1007/978-3-030-44289-7_32

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Citations (8)

Towards reuse and recycling of lithium-ion batteries: tele-robotics for disassembly of electric vehicle batteries

Frontiers in Robotics and AI (2023)

Jamie Hathaway Abdelaziz Shaarawy Cansu Akdeniz Ali Aflakian Rustam Stolkin

Disassembly of electric vehicle batteries is a critical stage in recovery, recycling and re-use of high-value battery materials, but is complicated by limited standardisation, design complexity, compounded by uncertainty and safety issues from varying end-of-life condition. Telerobotics presents an avenue for semi-autonomous robotic disassembly that addresses these challenges. However, it is suggested that quality and realism of the user's haptic interactions with the environment is important for precise, contact-rich and safety-critical tasks. To investigate this proposition, we demonstrate the disassembly of a Nissan Leaf 2011 module stack as a basis for a comparative study between a traditional asymmetric haptic-"cobot" master-slave framework and identical master and slave cobots based on task completion time and success rate metrics. We demonstrate across a range of disassembly tasks a time reduction of 22%-57% is achieved using identical cobots, yet this improvement arises chiefly from an expanded workspace and 1:1 positional mapping, and suffers a 10%-30% reduction in first attempt success rate. For unbolting and grasping, the realism of force feedback was comparatively less important than directional information encoded in the interaction, however, 1:1 force mapping strengthened environmental tactile cues for vacuum pick-and-place and contact cutting tasks.

Teleoperation

10.3389/frobt.2023.1179296

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Citations (16)

Towards Reuse and Recycling of Lithium-ion Batteries: Tele-robotics for Disassembly of Electric Vehicle Batteries

arXiv (Cornell University) (2023)

Jamie Hathaway Abdelaziz Shaarawy Cansu Akdeniz Ali Aflakian Rustam Stolkin

Disassembly of electric vehicle batteries is a critical stage in recovery, recycling and re-use of high-value battery materials, but is complicated by limited standardisation, design complexity, compounded by uncertainty and safety issues from varying end-of-life condition. Telerobotics presents an avenue for semi-autonomous robotic disassembly that addresses these challenges. However, it is suggested that quality and realism of the user's haptic interactions with the environment is important for precise, contact-rich and safety-critical tasks. To investigate this proposition, we demonstrate the disassembly of a Nissan Leaf 2011 module stack as a basis for a comparative study between a traditional asymmetric haptic-'cobot' master-slave framework and identical master and slave cobots based on task completion time and success rate metrics. We demonstrate across a range of disassembly tasks a time reduction of 22%-57% is achieved using identical cobots, yet this improvement arises chiefly from an expanded workspace and 1:1 positional mapping, and suffers a 10-30% reduction in first attempt success rate. For unbolting and grasping, the realism of force feedback was comparatively less important than directional information encoded in the interaction, however, 1:1 force mapping strengthened environmental tactile cues for vacuum pick-and-place and contact cutting tasks.

10.48550/arxiv.2304.01065

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Robotic Pick and Assembly Using Deep Learning and Hybrid Vision/Force Control

Karam Almaghout Riby Abraham Boby Mostafa Othman Abdelaziz Shaarawy Alexandr Klimchik

Pick up of featureless cylinders using deep learning and assembly using combination of visual and force feedback is discussed in this article. Object detection using YOLO technique is used to detect the object for robotic pick up. It was possible to identify the object even in cluttered environments. The assembly of the cylindrical object in a hole with tight clearance is also discussed. The method involves hybrid control i.e., position control along the assembly plane and force control along the direction of normal to the plane. The method is implemented using KUKA iiwa robot and the results are presented.

Position (finance)

Robotic hand

SMT placement equipment

10.1109/nir52917.2021.9666138

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Citations (3)