Papers by Dr-Mohamed Sorour
Assiut Journal of Agricultural Sciences
2019 European Conference on Mobile Robots (ECMR)
Journal of Sohag Agriscience (JSAS)
Journal of Sohag Agriscience (JSAS)
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
This paper describes the development of an autonomous robot for painting the interior walls of bu... more This paper describes the development of an autonomous robot for painting the interior walls of buildings. The robot consists of a painting arm with an end effector roller that scans the walls vertically and a mobile platform to give horizontal feed to paint the whole area of the wall. The painting arm has a planar twolink mechanism with two joints. Joints are driven from a stepping motor through a ball screw-nut mechanism. Four ultrasonic sensors are attached to the mobile platform and used to maintain a certain distance from the facing wall and to avoid collision with side walls. When settled on adjusted distance from the wall, the controller starts the painting process autonomously. Simplicity, relatively low weight and short painting time were considered in our design. Different modules constituting the robot have been separately tested then integrated. Experiments have shown successfulness of the robot in its intended tasks.
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
In this paper, enhancement to the novel grasp planning algorithm based on gripper workspace spher... more In this paper, enhancement to the novel grasp planning algorithm based on gripper workspace spheres is presented. Our development requires a registered point cloud of the target from different views, assuming no prior knowledge of the object, nor any of its properties. This work features a new set of metrics for grasp pose candidates evaluation, as well as exploring the impact of high object sampling on grasp success rates. In addition to gripper position sampling, we now perform orientation sampling about the x, y, and z-axes, hence the grasping algorithm no longer require object orientation estimation. Successful experiments have been conducted on a simple jaw gripper (Franka Panda gripper) as well as a complex, high Degree of Freedom (DoF) hand (Allegro hand) as a proof of its versatility. Higher grasp success rates of 76% and 85.5% respectively has been reported by real world experiments.
Egyptian Journal of Food Science, 2020
IEEE Robotics and Automation Letters, 2017
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), 2015
DESCRIPTION Wall Painting Robot - Spray Painting - Service Robot
2015 International Conference on Advanced Robotics (ICAR), 2015
ABSTRACT Workspace disturbance observer was developed as further enhancement for the successful j... more ABSTRACT Workspace disturbance observer was developed as further enhancement for the successful joint space observer. In its derivation it was assumed that the null space projector computation could be avoided. However limited performance has been reported for the workspace version. This work shows that the null space projector computation is essential for achieving the expected high performance in workspace. Experimental evaluation revealed the extra advantage of the workspace disturbance observer in terms of higher performance of the null space tasks.
Advanced Materials Research, 2010
Qualitative Research Journal, 2013
Purpose – The purpose of this paper is to investigate corporate governance (CG) practices of bank... more Purpose – The purpose of this paper is to investigate corporate governance (CG) practices of banking organizations in Egypt and seeks to understand the extent these can be considered socially constructed phenomenon. Design/methodology/approach – Through a qualitative research design underpinned by a combination of phenomenological and social constructivist paradigms the paper undertakes a grounded theory study of CG in a specific context (the Egyptian banking sector). The paper is based on a survey and 58 semi-structured interviews. Findings – CG as a dynamic and context-based phenomenon, which requires a processual mode of analysis rather than the widely accepted static approach. Empirical evidence that concerns whether the adoption of CG is based on achieving legitimacy is provided, which identifies that this is difficult to understand through traditional shareholder-stakeholder theories; economic rationality and efficiency fail to fully explain CG and investigation requires pheno...
European Journal of Lipid Science and Technology, 2010
Methanolic extracts obtained by manual solvent extraction (MSE) and accelerated solvent extractio... more Methanolic extracts obtained by manual solvent extraction (MSE) and accelerated solvent extraction (ASE) of different Sudanese plant materials (Sclerocarya birrea leaves, Salvadora persica bark and leaves, Combretum hartmannianum leaves, Guiera senegalensis leaves and roots) ...
Engineering Structures, 2010
In seeking to understand the dynamic behaviour of historic stone structures, eight representative... more In seeking to understand the dynamic behaviour of historic stone structures, eight representative walls were constructed and tested under in-plane free vibration conditions. Each wall consisted of two wythes, one sandstone, one limestone, joined by a rubble core ...
Canadian Journal of Civil Engineering, 2010
Since the advent of the latest National building code of Canada, the level of intervention requir... more Since the advent of the latest National building code of Canada, the level of intervention required to meet seismic requirements for the rehabilitation of heritage buildings has increased significantly. An example of this type of project is the rehabilitation of the West Block on Parliament Hill in Ottawa. Eight walls representative of the stone masonry in the West Block building were constructed, some with different rehabilitation schemes, and tested to investigate their in-plane seismic behaviour. The walls were double wythes of sandstone and limestone connected by a rubble core. The walls were 2750 mm high by 2000 mm wide by 540 mm thick. The rehabilitation schemes represented different ways of tying the stone wythes together, since the outer sandstone wythe has separated from the rubble core in some locations in the existing structure. The results reveal that the suggested strengthening schemes neither benefit nor degrade the in-plane seismic behaviour compared to that of a plai...
European Journal of Nutrition & Food Safety
This study was carried out to evaluate the effect of liquid smoke (LS) produced from beech sawdus... more This study was carried out to evaluate the effect of liquid smoke (LS) produced from beech sawdust and thyme essential oil (TEO) as natural antioxidants in chicken and turkey meatballs during frozen storage. The LS and TEO were added to chicken and turkey meatballs at levels of 1% and 0.1%, respectively, and storage at -18 ± 1°C for 6 months. pH value, water holding capacity (WHC), total volatile nitrogen (TVN), thiobarbituricacid (TBA) value, peroxide values (PV), total phenolic compounds (TPC) and antioxidant activity (DPPH %) were determined. The results demonstrated that the addition of LS or TEO had a positive effect on storage stability and a little change in the physical properties, quality attributes, and significantly (p≤0.05) increased the values of total phenolic compounds and antioxidant activity of chicken and turkey meatballs during frozen storage compared to the control sample. The data revealed that the application of liquid smoke had decreased the value of TBA, TVN...
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Papers by Dr-Mohamed Sorour