Author name cluster

Mohamed Dekhil

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

6 papers

1 author row

ICRA Conference 1998 Conference Paper

Instrumented Logical Sensor Systems-Practice

Mohamed Dekhil
Thomas C. Henderson

In previous work (1993, 1996), we introduced the notion of instrumented logical sensor systems (ILSS) that are derived from a modeling and design methodology. The instrumented sensor approach is based on a sensori-computational model which defines the components of the sensor system in terms of their functionality, accuracy, robustness and efficiency. This approach provides a uniform specification language to define sensor systems as a composition of smaller, predefined components. From a software engineering standpoint, this addresses the issues of modularity, reusability, and reliability for building complex multisensor systems. In this paper, we demonstrate the practicality of this approach and discuss several design and implementation aspects in the context of mobile robot applications.

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IROS Conference 1998 Conference Paper

Smart sensor snow

Thomas C. Henderson
Mohamed Dekhil
Scott Morris 0002
Yu Chen
William B. Thompson

We propose to deploy and exploit a large number of inexpensive sensors to obtain information or trigger actions over a wide geographic area. Sensors may be of diverse physical natures: acoustic, IR, seismic, chemical, magnetic, thermal, etc. We describe three major issues: (1) sensor distribution patterns, (2) local sensor frames, and (3) autonomous robot sensor snow exploitation techniques.

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ICRA Conference 1996 Conference Paper

Sonar sensing strategies

Thomas C. Henderson
Beat D. Brüderlin
Mohamed Dekhil
Larry Schenkat
Larkin Veigel

Develops theoretical and practical techniques to recover the pose of planar surfaces with minimal sensor readings and motion. A proof is given that two sonar readings suffice to precisely locate a single planar surface that returns the sonar's signal. An implementation is described that takes into account the physical restrictions on actual Polaroid sensors and experiments are described based on actual Polaroid sensor data.

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ICRA Conference 1995 Conference Paper

UPE: Utah Prototyping Enviroment for Robot Manipulators

Mohamed Dekhil
Tarek M. Sobh
Thomas C. Henderson
Robert Mecklenburg

Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and digital computer control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. In this paper the authors propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment.

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ICRA Conference 1994 Conference Paper

Discrete Event Control for Inspection and Reverse Engineering

Tarek M. Sobh
Mohamed Dekhil
Jonathan C. Owen

We address the problem of intelligent sensing in this work. In particular, we use discrete event dynamic systems (DEDS) to guide the sensing of mechanical parts for industrial inspection and reverse engineering. >

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ICRA Conference 1994 Conference Paper

URK: Utah Robot Kit - A 3-Link Robot Manipulator Prototype

Mohamed Dekhil
Tarek M. Sobh
Thomas C. Henderson

In designing robot manipulators, the interaction between several modules (S/W, VLSI, CAD, CAM, robotics, and control) illustrates an interdisciplinary prototyping environment that includes different types of information that are radically different but combined in a coordinated way. This paper describes the analysis and design of a 3-link robot manipulator prototype as part of a research project for building a prototyping environment for electromechanical systems. This prototype robot can be used as an educational tool in robotics and control classes. >

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