Suhail Ganiny

National Institute of Technology, Srinagar, Mechanical Engineering, Graduate Student

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PhD Candidate in Mechanical Engineering Department, National Institute of Technology, Srinagar, J

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Mahmoud Farag

American University in Cairo

Nesreen ghaddar

American University of Beirut

BORA YILDIRIM

Hacettepe University

Antonio Bula

Universidad del Norte - Barranquilla, Colombia

naveen noronha

Visvesvaraya Technological University

Isad Saric

University of Sarajevo

Richard Crawford

The University of Texas at Austin

Chandramouli Padmanabhan

IIT Madras

Umit Unver

Yalova University

mahmoud hafiz

Al-Azhar University

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Papers by Suhail Ganiny

Time-delayed dual-rate haptic rendering: stability analysis and reduced order modeling

International journal of intelligent robotics and applications, Sep 20, 2021

This work presents an exhaustive analysis of the impact of time delay on the stability of dual-ra... more This work presents an exhaustive analysis of the impact of time delay on the stability of dual-rate haptics controllers using an exact discrete-time method. The mathematical formulation of such controllers leads to higher order state-space models, in particular, for higher values of time delay and sampling rates. A balanced truncation based model order reduction framework is therefore utilized for obtaining reduced order models, while preserving the stability properties of the original higher order models. The likely order of the reduced models is selected on the basis of the Hankel singular values which represent the contribution of the system states towards the overall system energy. Using this framework, it is empirically found that third order reduced models yield exactly the same stability ranges as given by the allied full order models. This empirical finding is backed up by a rigorous analysis of the controller while considering a wide range of values for the time delay spanning both the realistic and worst-case application scenarios. This result is hitherto unknown in the haptics literature and is for the first time reported in this paper. For comparison purposes, the stability ranges of the dual-rate controller are also obtained using an equivalent continuous-time method, and numerical simulations. This work generalizes the results of previous works available in the literature for uniform-rate sampling scheme both for delayed and non-delayed haptics controllers. The results demonstrate that for a time-delayed dual-rate haptics controller, an increase in the sampling rate leads to an enhancement in the stable range of virtual wall parameters as long as the value of time delay relative to the sampling rate (non-dimensional time delay) remains small. For higher values of the non-dimensional time delay, higher sampling rates do not necessarily lead to performance enhancement.

Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method

Springer eBooks, Jul 22, 2021

Modeling and Optimization of Surface Roughness in Machining of Brass Using Multi-linear Regression in Conjunction With Genetic Algorithm

Algorithms for intelligent systems, Nov 1, 2020

Surface texture is often considered as a composite property as it is characterized by a multitude... more Surface texture is often considered as a composite property as it is characterized by a multitude of factors, that include roughness, lay, and waviness of the surface, with surface roughness being the most prominent. Several investigations have shown that surface roughness influences the wear behavior, frictional properties, fatigue and fracture characteristics, and resistance that a component offers to corrosion [1, 2]. Besides these, other attributes like geometrical tolerances, lubrication effectiveness, electrical/thermal conduction, and optical properties of a manufactured component are also closely related to its surface roughness. It is widely acknowledged, that a rough surface wears off easily, displays high friction when in relative motion against other surfaces, and has a reduced fatigue life than a smooth one. High surface roughness, however, is not an evil always, and in certain practical situations, rougher surfaces may be even desirable. For instance, high surface roughness leads to higher oxygen-catalytic recombination and heat transfer rates in thermal protection systems (TPS) employed in hypersonic vehicles [3]. Furthermore, rough surfaces possess better adhesion properties and galling resistance [4, 5]. Ideally, the surface roughness upto which a component can be machined or fabricated is determined by the manufacturing technique employed for its production. While the techniques like grinding, honing, and superfinishing produce surfaces with 0.01-5 µm surface finish, however, others like sand casting, rolling, and forging yield surfaces with relatively poor surface finish (5-50 µm) [6]. A trade-off is known to exist between the manufacturing cost involved and the surface roughness upto which a component can be produced during a particular manufacturing process. This tradeoff along with the dependence of a multitude of factors on the surface roughness makes it imperative to precisely control the surface roughness during a manufac

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Mathematical modeling and a month ahead forecast of the coronavirus disease 2019 (COVID-19) pandemic: an Indian scenario

Modeling Earth Systems and Environment, Jan 19, 2021

India, the second-most populous country in the world is witnessing a daily surge in the COVID-19 ... more India, the second-most populous country in the world is witnessing a daily surge in the COVID-19 infected cases. India is currently among the worst-hit nations worldwide due to the COVID-19 pandemic and ranks just behind Brazil and the USA. The prediction of the future course of the pandemic is thus of utmost importance in order to prevent further worsening of the situation. In this paper, we develop models for the past trajectory (March 01, 2020-July 25, 2020) and also make a month-long (July 26, 2020-August 24, 2020) forecast of the future evolution of the COVID-19 pandemic in India by using an autoregressive integrated moving average (ARIMA) model. We determine the most optimal ARIMA model (ARIMA(7,2,2)) based on the statistical parameters viz. root-mean-squared error (RMSE), mean absolute error (MAE), mean absolute percentage error (MAPE), and the coefficient of determination (R 2). Subsequently, the developed model is used to obtain a one month-long forecast for the cumulative cases, active cases, recoveries, and the number of fatalities. According to our forecasting results, India is likely to have 3800,989 cumulative infected cases, 1634,142 cumulative active cases, 2110,697 cumulative recoveries, and 56,150 cumulative deaths by August 24, 2020, if the current trend of the pandemic continues to prevail. The implications of these forecasts are that in the upcoming month, the infection rate of COVID-19 in India is going to escalate, while the rate of recovery and the case-fatality rate is likely to reduce. In order to avert these possible scenarios, the administration and health-care personnel need to formulate and implement robust control measures, while the general public needs to be more responsible and strictly adhere to the established and newly formulated guidelines in order to slow down the spread of the pandemic and prevent it from transforming into a catastrophe.

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Identification of the most conservative stability bounds for a class of multi-rate haptics controllers

International Journal of Modelling, Identification and Control, 2022

On the determination of stability bounds of time-delayed dual-rate haptics controllers via model order reduction

Stability analysis of multi-rate controllers that involve time-delayed feedback is complicated du... more Stability analysis of multi-rate controllers that involve time-delayed feedback is complicated due to the high dimensionality of the governing system models. In this paper, we attempt to circumvent this problem in the context of haptics controllers by utilizing the model order reduction framework. We examine the stability of a dual-rate haptics controller that features two closed-loop feedback gains, being rendered at two distinct sampling rates, besides having a time delay of the same magnitude in both the feedback loops. The high dimensionality of this time-delayed dual-rate haptics controller is reduced using a slow-fast modal decomposition method wherein the controller models are decomposed into two parts: one whose dynamics evolve slowly and the other whose dynamics evolve relatively at a fast rate. It is found that the slowly evolving part completely captures the stability properties of the original higher-order models and accordingly can be used for determining the stability bounds of the controller. More specifically, for several empirical values a third order reduced model is found to be sufficient for the purpose of the stability analysis of the time-delayed dual-rate haptics controller.

Analysis of Limit Cycle Oscillations in Dual-rate Haptic Rendering: Effect of Dual-rate Sampling

IFAC-PapersOnLine, 2022

Predictive modelling of pump noise using multi-linear regression and random-forest models - via optimal data splitting

International Journal of Simulation and Process Modelling

Identification of the most conservative stability bounds for a class of multi-rate haptics controllers

International Journal of Modelling, Identification and Control

Analysis of Limit Cycle Oscillations in Dual-rate Haptic Rendering: Effect of Dual-rate Sampling

IFAC-PapersOnLine

On the determination of stability bounds of time-delayed dual-rate haptics controllers via model order reduction

Advances in Robotics - 5th International Conference of The Robotics Society

Modeling and Optimization of Surface Roughness in Machining of Brass Using Multi-linear Regression in Conjunction With Genetic Algorithm

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Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method

Lecture Notes in Mechanical Engineering

A coupled multi-linear regression and genetic algorithm-based modelling and optimisation of surface roughness in machining of brass

Time-delayed dual-rate haptic rendering: stability analysis and reduced order modeling

International Journal of Intelligent Robotics and Applications

Mathematical modeling and a month ahead forecast of the coronavirus disease 2019 (COVID-19) pandemic: an Indian scenario

Modeling Earth Systems and Environment

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Mathematical Modeling and a Month Ahead Forecast of the Coronavirus Disease 2019 (COVID-19) Pandemic: An Indian Scenario

India, the second-most populous country in the world, has been lately witnessing a daily surge in... more India, the second-most populous country in the world, has been lately witnessing a daily surge in the COVID-19 infected cases. India is currently among the worst-hit nations worldwide, due to the COVID-19 pandemic, and ranks just behind Brazil and USA. In order to prevent the further worsening of the situation, predicting the future course of the pandemic is of utmost importance. In this paper, we model the past trajectory (March 01, 2020 - July 25, 2020) and make a month-long (July 26, 2020 - August 24, 2020) forecast of the future evolution of the COVID-19 pandemic in India using an autoregressive integrated moving average (ARIMA) model. According to our forecasting results, India is likely to have 3,800,989 cumulative infected cases, 1,634,142 cumulative active cases, 2,110,697 cumulative recoveries and 56,150 cumulative deaths by August 24, 2020, if the current trend of the pandemic continues to prevail. The implications of these forecasts are that in the upcoming month the infe...

Stability Analysis of Dual-rate Haptics Controller Using Two Control Architectures

Journal of Physics: Conference Series

Stability Analysis of Dual-rate Haptics Controller Using Two Control Architectures

Journal of Physics: Conference Series

Time-delayed dual-rate haptic rendering: stability analysis and reduced order modeling

International journal of intelligent robotics and applications, Sep 20, 2021

Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method

Springer eBooks, Jul 22, 2021

Modeling and Optimization of Surface Roughness in Machining of Brass Using Multi-linear Regression in Conjunction With Genetic Algorithm

Algorithms for intelligent systems, Nov 1, 2020

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Mathematical modeling and a month ahead forecast of the coronavirus disease 2019 (COVID-19) pandemic: an Indian scenario

Modeling Earth Systems and Environment, Jan 19, 2021

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Identification of the most conservative stability bounds for a class of multi-rate haptics controllers

International Journal of Modelling, Identification and Control, 2022

On the determination of stability bounds of time-delayed dual-rate haptics controllers via model order reduction

Analysis of Limit Cycle Oscillations in Dual-rate Haptic Rendering: Effect of Dual-rate Sampling

IFAC-PapersOnLine, 2022

Predictive modelling of pump noise using multi-linear regression and random-forest models - via optimal data splitting

International Journal of Simulation and Process Modelling

Identification of the most conservative stability bounds for a class of multi-rate haptics controllers

International Journal of Modelling, Identification and Control

Analysis of Limit Cycle Oscillations in Dual-rate Haptic Rendering: Effect of Dual-rate Sampling

IFAC-PapersOnLine

On the determination of stability bounds of time-delayed dual-rate haptics controllers via model order reduction

Advances in Robotics - 5th International Conference of The Robotics Society

Modeling and Optimization of Surface Roughness in Machining of Brass Using Multi-linear Regression in Conjunction With Genetic Algorithm

Download

Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method

Lecture Notes in Mechanical Engineering

A coupled multi-linear regression and genetic algorithm-based modelling and optimisation of surface roughness in machining of brass

Time-delayed dual-rate haptic rendering: stability analysis and reduced order modeling

International Journal of Intelligent Robotics and Applications

Mathematical modeling and a month ahead forecast of the coronavirus disease 2019 (COVID-19) pandemic: an Indian scenario

Modeling Earth Systems and Environment

Download

Mathematical Modeling and a Month Ahead Forecast of the Coronavirus Disease 2019 (COVID-19) Pandemic: An Indian Scenario

Stability Analysis of Dual-rate Haptics Controller Using Two Control Architectures

Journal of Physics: Conference Series

Stability Analysis of Dual-rate Haptics Controller Using Two Control Architectures

Journal of Physics: Conference Series

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