Medical Robotics
Islam S. M. Khalil, Heba A. Hassan and Omar M. Shehata
German University in Cairo
25 February, 2013
Islam S. M. Khalil, Heba A. Hassan and Omar M. Shehata
Projects
Projects
1- Targeted drug delivery using paramagnetic microparticles in vi
Medical Robotics
Islam S. M. Khalil, Heba A. Hassan and Omar M. Shehata
German University in Cairo
18 February, 2013
Islam S. M. Khalil, Heba A. Hassan and Omar M. Shehata
Introduction to Medical Robotics
Outline
Capabilities of Robotic Systems
Degree of
Medical Robotics
Islam S. M. Khalil, Heba A. Hassan and Omar M. Shehata
German University in Cairo
04 March, 2013
Islam S. M. Khalil, Heba A. Hassan and Omar M. Shehata
Projects
Projects
6- Development of a Prothetic Leg
Design and development of a prothe
Engineering Thermodynamics
2013-2014
Tutorial 1
Tutorial 1 (Chapter 1)
Problem 1: 15 kg of CO2 gas is fed to a cylinder having a volume of 20 m3 and initially containing 15
kg of CO2 at a pressure of 10 bar. Later a pinhole develops and the gas slowly lea
Crevice Corrosion on
Stainless Steel Propeller Shafts
What is it?
How to Prevent it.
How to Repair it.
A Quick Summary:
Stainless steel propeller shafts and running
gear are subject to pitting & crevice corrosion
It mainly occurs on vessels in warm, salt
Technical Bulletin 1
March 2009
Glossary of Ship Construction Terms
This is a collection of terms which may be useful to have to hand when reading a surveyors report
relating to hull damage, it is by no means an exhaustive list but has been kept to the ba
Sample Question
PM 6002
Dr. Win Mar
Department of Port Management
Myanmar Maritime University
Objective Questions
The influential factors on a buyers demand are
(1) -, PRICE
(2) -, BUYERS INCOME
(3) -, and WEALTH , FUTURE EXPECTATION , OTHERS ITEM
PRIC
Best
A low-cost carrier or low-cost airline is an airline that generally has lower fares and fewer
comforts.
Characteristics of low cost carrier's.
They serve short-haul routes, often to/from regional or secondary airports.
A strong focus on price sensiti
S.M 6002, ManagementQuestion Type
ANSWER (5) QUESTIONS:
I)
(a) Fill in the blank. (10) Marks
(b) Multiple choices . (10) Marks
II)
Definitions.(1Q/2 marks, total: 10Q/20 marks)
III)
Short Note. (1Q/5 marks, total: 4Q/20 marks)
IV)
(a) Short Question. (10)
P.M-6001
Calculation 55 marks
Theory concept 30 marks
Fill in the blank 15 marks
Cash Receipt
Cast receipt includes all items from which cash in flows result in any given
financial period. The most common components of cash receipts are cash sales,
collec
Modeling and Simulation of Electrohydraulic systems
MCTR1007
Spring Semester 2011
Dr. Eng. Taher Salah Eldin
Quiz # 3
Date: 04/06/2011
(Answer time: 60 min.)
Name
ID #
Question One: (7 Marks)
a- Sketch the hardware in the loop schematic drawing of the clo
Problem 1:
Given:
The shown servo controlled cylinder drive, with a flow rate signal function of the servo valve.
SV type: 4WSE2ED10-8X/90
M = 150 kg
Q0max = 30 dm3/min
P0 = 140 bar
A = 15.7 cm2
VA = VB = 360 cm3
Eoil = 1x105 N/cm2
Unominal= 10 V
ymax= 2
Modeling and Simulation of Electrohydraulic systems
MCTR1007
Spring Semester 2011
Dr. Eng. Taher Salah Eldin
Quiz # 2
Date: 21/05/2011
(Answer time: 40 min.)
Name
ID #
1
Question One: (6 Marks.)
What is meant by the followings terms:
KQy
KQP
How do the pr
Modeling and Simulation of Electrohydraulic systems
MCTR1007
Spring Semester 2012
Dr. Eng. Taher Salah Eldin
Quiz #1
Date: 24/03/2012
(Answer time: 30 min.)
1
Question One:
The spring mass system with damper shown in the figure is representing the
dynamic
MatLab (Matrix laboratory) is an interactive software system for
numerical computations and graphics. As the name suggests,
MatLab is especially designed for matrix computations: solving
systems of linear equations, computing eigenvalues and
eigenvectors
Modeling and Simulation of Electrohydraulic Systems
Lecture Nine: Hardware in the loop simulation
Dr. Eng. Taher Salah El-Din
Contents
1
Introduction
2
Control Desk Environment
3
Application Example
4
Simulink Model
Modeling and simulation: Lecture 9
2
Co
Modeling and Simulation of Electrohydraulic Systems
Lecture Eight: Linearization of servo cylinder closed loop
position control system (Laplace Transformation and Root Locus
plotting)
Dr. Eng. Taher Salah El-Din
ElectroHydraulics: Lecture 8
1
Contents
1.
Modeling and simulation of
Electrohydraulic Systems
Tutorial 2: Problems
Flow through an orifice
k = Coefficient of contraction
Proportional DCV Equations
List of abbreviations:
QL= load flow rate
Q0= System flow rate
QA,QB = Flow rates of chamber A &
Modeling and Simulation of Electrohydraulic Systems
Lecture 7: Linearization of servo cylinder closed
loop position control system (Simplified model)
Modeling and simulation: Lecture 7
1
Contents
1
Introduction
1.1 Closed loop position control
1.2 Electro
Modeling and Simulation of Electrohydraulic
Systems
Lecture 3: Torque Motor
Dr. Eng. Taher Salah El-Din
3/3/2012
Lecture 3
1
Contents
1
Introduction
2
Electromagnetic Torque Motors
2.1 Introducing Magnetic Circuits
2.2 Magnetic circuit of an Electromagnet
Modeling and Simulation of EH Systems
Lecture 2: Introduction to modeling of EH systems
Dr. Eng. Taher Salah El-Din
2/26/2012
Lecture 2 - Introduction to modeling of EH
systems
1
Contents
1
Steady state modeling
2
Source of equations
3
Conservation of flo
Modeling and Simulation of Electrohydraulic Systems
Lecture 6: Modeling and simulation of a servo
cylinder driven by a servo valve (Detailed model)
Dr. Taher Salah El-din
Modeling and simulation: Lecture 6
1
Contents
1
Components of Electrohydraulic Servo
Modeling and Simulation of Electrohydraulic Systems
Lecture 4: Modeling of Flapper Nozzles system
Dr. Eng. Taher Salah El-Din
Lecture 4
1
Contents
1
Flapper valves
1.1 Concept of flapper valves
1.2 Mathematical modeling of flapper valves
2
Principles of d
Modeling and Simulation of Electrohydraulic Systems
Lecture 5: Modeling of Servo valve main spool and Actuator
Dr. Eng. Taher Salah El-Din
Modeling and Simulation : Lecture 5
1
Contents
1
Modeling of an EHSV main Spool
1.1 Modeling of an EHSV main Spool (