Excellence in Research and Innovation for Humanity

M Saba

Publications

2

Publications

2
3691
Modelling of a Direct Drive Industrial Robot
Abstract:

For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). This work considers the cartesian robot coupled and non linear (contrary to normal considerations for this type of robots). The mechanical and control architecture proposed in this paper is efficient for industrial and research application in which high speed, well known model and very high accuracy are required.

Keywords:
Robot modelling, parameter identification and validation, AC servo-motors.
1
10003653
Assessing Water Quality Using GIS: The Case of Northern Lebanon Miocene Aquifer
Abstract:
This research focuses on assessing the ground water quality of Northern Lebanon affected by saline water intrusion. The chemical, physical and microbiological parameters were collected in various seasons spanning over the period of two years. Results were assessed using Geographic Information System (GIS) due to its visual capabilities in presenting the pollution extent in the studied region. Future projections of the excessive pumping were also simulated using GIS in order to assess the extent of the problem of saline intrusion in the near future.
Keywords:
GIS, saline water, quality control, drinkable water quality standards, pumping.