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This Author published in this journals
All Journal International Journal of Power Electronics and Drive Systems (IJPEDS) IAES International Journal of Robotics and Automation (IJRA) Bulletin of Electrical Engineering and Informatics Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems Control Systems and Optimization Letters
Salah, Wael A.
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Mechanical Engineering

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 1 
Smartphone Sensor-based Development and Implementation of a Remotely Controlled Robot Arm Salah, Wael A.; Sneineh, Anees Abu; Shabaneh, Arafat A. A.
Journal of Robotics and Control (JRC) Vol 5, No 4 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i4.21987

Abstract

As a result of advances in both technology and science, it is now possible to carry out essential processes such as lifting objects and moving them by remote control of an arm. In this sense, it is much easier for a person to engage in potentially dangerous activities without running the risk of getting hurt. This article presents the development and design of a robot arm that is controlled by a smartphone device using gyroscope sensors integrated inside. Smartphones with built-in gyroscope sensors are used to operate robot arms in a flexible and affordable manner. The robot arm's movement is effectively controlled by the gyroscope sensors, which include proximity, orientation, and accelerometer sensors, to get it to the required position. The developed prototype found to capable of handling a variety of objects with a smooth movement and transporting them based on the movement of a mobile phone. The control of the arm imitates the movements of a human being, which results in the reduction of the amount of time and effort required by a person to carry out a certain process.
Development and implementation of a low-cost metal detector device Salah, Wael A.; Shabaneh, Arafat A. A.
Bulletin of Electrical Engineering and Informatics Vol 13, No 5: October 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i5.7613

Abstract

Metal detectors contribute to safety, protection, and detection in a variety of disciplines by locating and identifying metal items, playing an important role in which the metal detectors appear in security, archaeology, and industrial applications respectively. The necessity for identifying different types of metals and the need for a high level of security system led to the need of affordable and sensitively metal detecting devices. In this paper, the magnetic pulse induction (PI) technology is used in the development of metal detectors. The primary control circuit is utilizing an Arduino controller which allows the input signal’s to be controlled and monitored using a liquid-crystal display (LCD) and mobile application. A voltage sensor for measuring the analog output from the circuit and capturing the information to the Arduino by employing a Bluetooth module. The Arduino controller estimate the percentage of the signal’s strength and display it on the LCD. Simultaneously, the signal could be sent to the mobile application through Bluetooth in order for the application to display the strength in the form of a spectrum of colors. The results of testing applied to the proposed prototype reveal that the system is running with a satisfactory accuracy and sensitivity.
Development of a Sensor-Based Glove-Controlled Mobile Robot for Firefighting and Rescue Operations Sneineh, Anees Abu; Salah, Wael A.
International Journal of Robotics and Control Systems Vol 4, No 4 (2024)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v4i4.1553

Abstract

Robots are important in preventing hazards. This paper presents the construction and testing of a mobile robot equipped with a sensor-based glove for firefighting and rescue operations. The main idea is based on the ability to control the mobile robot through the movement of a gloved hand. The glove circuit is connected to the robot circuit through Bluetooth. The MPU6050 gyroscope sensor detects the movement of a gloved hand and sends the direction of the hand’s inclination to the microcontroller, which in turn uses this information to direct the mobile robot’ movement in the desired direction. Experiments were conducted to test the mobile robot and its control system. Results showed that the robot prototype works effectively with satisfactory response to the intended direction of robot movement. An increase in safety level and a reduction in firefighting risks were also observed. The proposed robot can assist effectively in rescue operations, creating opportunities for future improvements.
A Comparative Study of PID, FOPID, ISF, SMC, and FLC Controllers for DC Motor Speed Control with Particle Swarm Optimization Setiawan, Muhammad Haryo; Ma'arif, Alfian; Saifuddin, Much. Fuad; Salah, Wael A.
International Journal of Robotics and Control Systems Vol 5, No 1 (2025)
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/ijrcs.v5i1.1764

Abstract

Direct Current (DC) motors are extensively used in various applications due to their versatile and precise control capabilities. However, they face operational challenges such as speed instability and sensitivity to load variations and external disturbances. This study compares the performance of several advanced control methods—Proportional Integral Derivative (PID), Fractional Order PID (FOPID), Integral State Feedback (ISF), Sliding Mode Control (SMC), and Fuzzy Logic Controller (FLC) for DC motor control. Particle Swarm Optimization (PSO) is employed to optimize the tuning parameters of PID, FOPID, ISF, and SMC controllers, while FLC is implemented without optimization. The simulation results indicate that the PSO-FOPID controller exhibits the best overall performance, characterized by the fastest rise and settling times and the lowest ITSE, despite a minor overshoot. The PSO-PID controller also performs well, with fast response times, although it is less efficient in terms of settling time and ITSE compared to PSO-FOPID. The OBL/HGSO-PID controller, while stable and overshoot-free, has a slower response. The PSO-ISF controller shows the highest stability with the lowest SSE values, making it suitable for applications requiring high stability. The PSO-SMC controller demonstrates good stability but is slightly slower than PSO-ISF. The FLC controller, however, performs the worst, with significant overshoot and long recovery times, making it unsuitable for fast and precise control applications.  The robustness analysis under varying motor parameters further confirms the superiority of the PSO-FOPID controller, which outperforms OBL/HGSO and OBL-MRFO-SA optimizations across both PID and FOPID controllers, making it the most effective solution for applications requiring high precision and rapid response.
Understanding Generative Adversarial Networks (GANs): A Review Purwono, Purwono; Wulandari, Annastasya Nabila Elsa; Ma'arif, Alfian; Salah, Wael A.
Control Systems and Optimization Letters Vol 3, No 1 (2025)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v3i1.170

Abstract

Generative Adversarial Networks (GANs) is an important breakthrough in artificial intelligence that uses two neural networks, a generator and a discriminator, that work in an adversarial framework. The generator generates synthetic data, while the discriminator evaluates the authenticity of the data. This dynamic interaction forms a minimax game that produces high-quality synthetic data. Since its introduction in 2014 by Ian Goodfellow, GAN has evolved through various innovative architectures, including Vanilla GAN, Conditional GAN (cGAN), Deep Convolutional GAN (DCGAN), CycleGAN, StyleGAN, Wasserstein GAN (WGAN), and BigGAN. Each of these architectures presents a novel approach to address technical challenges such as training stability, data diversification, and result quality. GANs have been widely applied in various sectors. In healthcare, GANs are used to generate synthetic medical images that support diagnostic development without violating patient privacy. In the media and entertainment industry, GANs facilitate the enhancement of image and video resolution, as well as the creation of realistic content. However, the development of GANs faces challenges such as mode collapse, training instability, and inadequate quality evaluation. In addition to technical challenges, GANs raise ethical issues, such as the misuse of the technology for deepfake creation. Legal regulations, detection tools, and public education are important mitigation measures. Future trends suggest that GANs will be increasingly used in text-to-image synthesis, realistic video generation, and integration with multimodal systems to support cross-disciplinary innovation.
Design and implementation of an automatically aligned solar tracking system Abu Sneineh, Anees; Salah, Wael A.
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 10, No 4: December 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (389.895 KB) | DOI: 10.11591/ijpeds.v10.i4.pp2055-2064

Abstract

This paper presents the design and implementation of a closed-loop solar tracker system. The demand for clean energy sources has increased along with the rising demand for electrical energy and the increasing amount of environment pollution triggered by fuel consumption. Among these sources, solar energy is considered the most feasible given its wide availability and easy operation in different environments. The main purpose of this study is to maximize the generated photovoltaic power and reduce CO2 emissions by designing an efficient and low-cost solar tracking system. An aligned closed-loop solar tracker is designed and constructed to achieve the best accuracy. The proposed system shows more freedom in its movement to overcome the problems associated with the tilt of the frame-holder. A PIC microcontroller based on the Flowcode programming language is used, the position feedback is detected by using a photo-sensor, and the H-Bridge driver is used to control two DC motors. According to the experimental results, the proposed system shows significant improvements in efficiency compared with stationary solar tracking systems.
Development and implementation of a mobile robot for grouting floor tile joints Abu Sneineh, Anees; Salah, Wael A.; Elnaggar, Mohamed; Abuhelwa, Mai
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 2: June 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i2.pp151-161

Abstract

Many construction tasks need time and effort from people. Thus, modern technology is one of its purposes to aid task completion. These include grouting floor tile joints. It takes time and effort to complete this process. Traditional methods for grouting floor tile joints between tiles are inefficient and require the worker to stay on his knees for extended periods, which can cause health issues. Thus, mobile robots are needed to automate floor grouting. This study describes the design and development of a mobile robot model to grout floor tile joints uniformly and effectively. Compared to manual approaches, the proposed robot can clean tiles quickly and precisely. The robot fills based on user-defined workspace coordinates. Set the robot at the start location to begin grouting. The robot then follows the user-defined code and coordinates to fill the requirement. After grout filling, the robot returned to the starting position to clean. This model was evaluated and exhibited faster, more accurate grouting and a shorter injection process than manual approaches.
Co-Authors Abu Sneineh, Anees Abuhelwa, Mai Alfian Ma’arif Elnaggar, Mohamed Much. Fuad Saifuddin Purwono Purwono, Purwono Setiawan, Muhammad Haryo Shabaneh, Arafat A. A. Sneineh, Anees Abu Wulandari, Annastasya Nabila Elsa