Karim Abdel-Malek

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An analytical method is presented to obtain all surfaces enveloping the workspace of a general 3-DOF mechanism. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation for serial kinematic chains or its modification for closed-loop kinematic chains. The method developed is based upon analytical criteria(More)
Using multi-objective optimization, we develop a new human performance measure for direct optimizationbased posture prediction that incorporates three key factors associated with musculoskeletal discomfort: 1) the tendency to move different segments of the body sequentially, 2) the tendency to gravitate to a comfortable neutral position, and 3) the(More)
In a manufacturing environment where a robotic arm is programmed to follow a specified trajectory such as in welding, painting, and soldering, it is often the case that the arm reaches a singular configuration, where the program is stopped, the arm is switched to a new configuration, and the motion is continued. This difficulty has been a long standing(More)
Significant attention in recent years has been given towards obtaining a better understanding of human joint ranges, measurement, and functionality, especially in conjunction with commands issued by the central nervous system. Studies of those commands often include computer algorithms to describe path trajectories. These are typically in "open-form" with(More)
Two numerical algorithms for computing starting points on the curve of intersection between two parametric surfaces are presented. The problem of determining intersection curves between two surfaces is analytically formulated by parametrizing inequality constraints into equality constraints and augmenting the constraint function. The first method uses an(More)
An automated design-to-manufacture system and the description of its implementation are outlined. The system is described in the context of rapid prototyping of a mechanism for the post-fabrication of miniature metal tubular components. Post-fabrication operations considered include dimpling, bending, slotting, lancing, punching, corsetting, and notching.(More)
A survey of swept volume concepts and methods is presented. It consolidates and relates seemingly different terminology and methods. The methods are divided into five major categories: method with envelope theory, method with sweep differential equation (SDE)/sweep envelope differential equation (SEDE), method with Jacobian rank deficiency, Voxel-based(More)